JP7274759B2 - agricultural machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to an agricultural work machine mounted on a tractor. In particular, it relates to control for enabling expansion or contraction of the working width in the width direction of the traveling direction.

Japanese Patent Application Laid-Open No. 2002-200000 discloses a control in the operation of an agricultural implement that can change the width of the machine body or the working width between the deployed state and the retracted state, respectively. This agricultural working machine has an automatic mode and a manual mode, and by operating a remote control unit, a plurality of operation units provided in the agricultural working machine are operated. Further, according to Japanese Patent Application Laid-Open No. 2002-200003, it is disclosed that in the manual mode, the operation section of each section operates only when the remote control operation unit is being pushed.

JP 2006-166793 A

When the agricultural working machine described in Patent Document 1 operates the operating parts of each part in the manual mode, if the operator mistakenly operates the button of another operating part, depending on the attitude state of the agricultural working machine, the working part may not be operated. It may cause inconvenience when moving. Specifically, when an operating part of a certain part is operated, it may interfere with other parts and damage the fuselage. In order to determine the attitude of agricultural machinery, it is conceivable to equip the operating part with a sensor or the like, determine the attitude based on the signal from the sensor, and control the movement accordingly. It is easy to assume that an increase in . This is not convenient for the purchaser.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and an object of the present invention is to provide an agricultural work machine capable of determining the attitude state of the agricultural work machine with a simple configuration.

In order to achieve the above object, a first aspect of the present invention includes a first working body, a deployed posture in which work can be performed by being positioned on the side of the first working body, and a working body that moves to the upper part of the first working body. a second working body capable of changing its posture to each of the stored postures; a control section capable of controlling a driving device for changing the posture of the second working body; an operation unit capable of transmitting a command signal ; the control unit comprising a storage unit for storing flag information of the second working body; When a command signal transmitted from the operation unit is received by operating the operation unit by the operator, the second working body is caused to start the deployment operation, and it is determined whether or not the flag information stored in the storage unit is OFF. If it is determined that the flag information is OFF, it is determined that the operation time of the operated operation unit has exceeded a preset set time , and if the set time has been exceeded, the second work is performed. The gist of the invention is that the agricultural work machine is configured to be capable of generating flag information for determining the posture of the body.

In order to achieve the above object, a second aspect of the present invention provides a first working body, an unfolded posture in which work is possible by being positioned on the side of the first working body, and an upper portion of the first working body. a control unit capable of controlling a drive device for changing the posture of the second working body; a control unit operated by an operator; and a storage unit for storing flag information indicating the deployed posture or retracted posture of the second working body. When a command signal is received from the operator operating the operation unit to change the posture of the second working body, the second working body starts the deployment operation and determines whether the flag information stored in the storage is OFF. If it is determined that the flag information is OFF, it is determined that the operation time of the operated operation unit has exceeded a preset time, and the operation time of the operated operation unit is exceeded. When it is determined that a preset set time has passed, flag information for determining the posture of the second working body is generated as a deployment flag , and the operation unit is operated after the set time has passed. The gist of the invention is that the agricultural working machine is configured to stop the operation of the second working body when stopped and to store flag information at the stage when the operation of the second working body has stopped in a storage unit.

Advantageous Effects of Invention According to the present invention, it is possible to provide an agricultural working machine capable of determining the attitude state of the agricultural working machine with a simple configuration.

FIG. 2 is a front view of the agricultural working machine showing the embodiment as seen from the rear side in the traveling direction, and shows a state in which the second working body and the third working body are deployed. 1 is a plan view of an agricultural working machine showing an embodiment, showing a state in which a second working body and a third working body are deployed; FIG. It is a side view seen from the left of the advancing direction of the agricultural working machine which shows embodiment, and shows the state in which the 2nd working body and the 3rd working body were expanded. FIG. 2 is a front view of the agricultural working machine showing the embodiment as seen from the rear side in the traveling direction, and shows a state in which the second working body and the third working body are retracted; It is a side view seen from the left side of the advancing direction of the agricultural working machine showing the embodiment, and shows a state in which the second working body and the third working body are retracted. It is an explanatory view showing the operation part of the agricultural implement showing the embodiment. FIG. 4 is an explanatory diagram showing the second driving device of the agricultural work machine showing the embodiment, showing a state in which the ground leveling body is deployed; FIG. 10 is an explanatory diagram showing the second driving device of the agricultural work machine showing the embodiment, showing a state in which the ground leveling body is stored. FIG. 10 is a side view for explaining the third driving device and the first rear ground leveling body of the agricultural work machine showing the embodiment, and shows the state when the first rear ground leveling body is in a fixed state. FIG. 10 is a side view for explaining the third driving device and the first rear ground leveling body of the agricultural work machine showing the embodiment, and shows the state when the first rear ground leveling body is in the unlocked state. It is explanatory drawing which showed the mesh|engagement of the 1st gearwheel and the 2nd gearwheel of the agricultural implement which shows embodiment, and shows the state to which the tooth surface was pressed. It is an explanatory view showing meshing of the 1st gear and the 2nd gear of the agricultural implement which shows an embodiment, and shows the state where a tooth surface is not pressed. 1 is a block diagram of an agricultural work machine showing an embodiment; FIG. FIG. 7 is a control flow diagram when the second working body of the agricultural working machine showing the embodiment is in the deployed posture. It is a control flow figure when making the 2nd working body of the agricultural working machine which shows embodiment into a storing attitude|position. It is a control flow figure when making the 3rd working body of the agricultural working machine which shows embodiment into a deployment attitude|position. It is a control flow figure when making the 3rd working body of the agricultural implement which shows embodiment into a retraction attitude|position. Fig. 10 is a control flow diagram when the first rear ground leveling body of the agricultural work machine showing the embodiment is brought into the unlocked state; FIG. 4 is a control flow diagram when the first rear ground leveling body of the agricultural work machine showing the embodiment is brought into a fixed state.

An embodiment of the present invention will be described with reference to the drawings. In the description, the left side shown in FIG. 1 is the left side with respect to the direction of travel, the right side is the right side with respect to the direction of travel, the back side is the front side with respect to the direction of travel, and the front side is the rear side with respect to the direction of travel. In the description of the drawings, the same or similar parts may be denoted by the same or similar reference numerals, and descriptions thereof may be omitted. In addition, the drawings used for explanation are schematic, and the relationship with the dimensions of each part may differ from the actual one. Moreover, the technical idea of the present invention can be modified in various ways within the technical scope defined by the claims.

An outline of the agricultural implement 1 will be described with reference to FIGS. 1 to 13. FIG. The agricultural implement 1 is attached to a three-point link mechanism, which is an elevating link provided at the rear of a tractor (not shown), which is a traveling body, and is used for soil crushing work and puddling work.

The agricultural working machine 1 includes a first working body 11 and a second working body 11L and a second working body 11R connected to both ends of the first working body 11 . The second working body 11L and the second working body 11R are rotated about fulcrum portions 25 provided at both ends of the frame 2 provided in the first working body 11, so that the second working body 11L and the second working body 11R can be switched between the deployed posture and the retracted posture. Work style can be changed. The deployed posture is a state in which the second working body 11L and the second working body 11R are deployed so as to extend the working width of the first working body 11, and the working width is expanded to the left and right with respect to the traveling direction. The retracted posture is a state in which the second working body 11L and the second working body 11R are rotated at the fulcrum 25 and folded above the first working body 11 to shorten the working width and machine body width.

The first working body 11 has a frame 2 having a mounting portion 20, and by connecting the mounting portion 20 and a three-point link mechanism, the agricultural work machine 1 can move up and down. In addition, the agricultural work machine 1 rotates the first soil crushing unit 3 positioned below the frame 2 by acquiring the power output from the tractor side. The first crushed earth unit 3 has a plurality of claws 32 on a rotor shaft 31 that rotates on a horizontal axis perpendicular to the traveling direction. By rotating the claws 32 as the tractor advances, the soil can be crushed. Furthermore, when the second working body 11L and the second working body 11R are changed to the deployed state, the second working body 11L and the second working body 11R are provided with the second earth-breaking part 3L and the second earth-breaking part 3R, respectively. Power output from the tractor is transmitted to rotate.

Above the first crushed earth unit 3, the second crushed earth unit 3L, and the second crushed earth unit 3R in the unfolded state, there are a first cover body 4, a second cover body 4L, and a second cover body 4R that cover the upper parts of the respective crushed earth parts. is provided to prevent the soil from scattering around during crushing. A first and second ground leveling body 5, a second ground leveling body 5L, and a second ground leveling body 5L and a second ground leveling body provided so as to be vertically rotatable are provided at rear end portions of the first cover body 4, the second cover body 4L, and the second cover body 4R, respectively. 5R is provided, and by grounding the soil while rotating vertically, the soil after crushing is leveled and puddled by the first crushing section 3, the second crushing section 3L, and the second crushing section 3R. do the work

Furthermore, the first leveling body 5, the second leveling body 5L, and the second leveling body 5R are the first and second leveling bodies that rotate up and down at the respective rear end portions of the first cover body 4, the second cover body 4L, and the second cover body 4R. One front ground leveling body 51, a second front ground leveling body 51L, a second front ground leveling body 51R, and a first front grounding body 51 and second front grounding bodies 51L, 51R that rotate vertically at their respective rear end portions. It is composed of a rear ground leveling body 56, a second rear ground leveling body 56L, and a second rear ground leveling body 56R. The first front leveling body 51, the second front leveling body 51L and the second front leveling body 51R, and the first rear leveling body 56, the second rear leveling body 56L and the second rear leveling body 56R cooperate with each other. , the soil and mud after crushed soil can be evenly leveled.

A third working body 7L and a third working body 7R are arranged on the second rear ground leveling body 56L and the second rear ground leveling body 56R in the deployed state, respectively. The third working bodies 7L and 7R can expand the ground leveling width of the second rear ground leveling body 56L and the second rear ground leveling body 56R. By widening the leveling width, it is possible to more uniformly level the soil after crushing. The third working bodies 7L and 7R can be vertically rotated by pivots 71 provided at respective ends of the second rear ground leveling body 56L and the second rear ground leveling body 56R. It is possible to change the posture in the stowed state.

The rotatable second working body 11L, the first working body 11R, the first rear leveling body 56, the third working body 7L, and the third working body 7R are each provided with a driving device 8, and these driving devices 8 Rotational drive is possible by The driving device 8 can be remotely controlled via the control section B by being operated by the operator using the operation section A. As shown in FIG. In the embodiment, it is assumed that the operation unit A and the control unit B communicate wirelessly, but the communication method may be wired.

A detailed configuration of the agricultural implement 1 will be described with reference to FIGS. 1 to 13. FIG. The frame 2 is a portion forming the skeleton of the first working body 11 of the agricultural implement 1 and includes a mounting portion 20, an input case 21, a pipe frame 22, a transmission case 23, and a support frame 24.

The mounting portion 20 is provided at the front central portion of the first working body 11, which is the front central portion of the agricultural work machine 1, and is composed of a top link pin 201 on the upper portion and a pair of lower link pins 202 positioned on the left and right below the top link pin 201. ing. By connecting the top link pin 201 and the lower link pin 202 to a three-point link mechanism (not shown) or the like on the tractor side, the agricultural implement 1 is attached to the tractor so that it can move up and down. An input case 21 is provided in the center of the mounting portion 20, and an input shaft 211 is provided toward the front. The input shaft 211 is connected to the PTO shaft of the tractor through a universal joint (not shown) or the like to acquire rotational power output from the tractor. A top mast 212 projects forward and upward from the upper portion of the input case 21, and the top link pin 201 is provided at the upper end of the top mast 212. As shown in FIG. A lower plate 213 is arranged downward from the side of the input case 21 , and a lower link pin 202 is attached to the lower plate 213 .

The input case 21 is provided with a pipe frame 22 having one end connected to the input case 21 and projecting to the left and right sides. The pipe frames 22 arranged on the left and right sides are made of round pipes and arranged coaxially. At the other end of either the left or right side of the pipe frame 22, a vertically long transmission case 23 extending downward is provided, and the other end of the pipe frame 22 on the other side extends downward. A vertically elongated support frame 24 is positioned. A first crushed earth part 3 is provided under the frame 2 so as to span the lower ends of the transmission case 23 and the support frame 24, respectively.

The first crushed earth section 3 is a member having a rotor shaft 31 and claws 32 and is supported under the pipe frame 22 between the lower end of the transmission case 23 and the lower end of the support frame 24 . The rotor shaft 31 is a rotatable shaft mounted under the transmission case 23 and the support frame 24 . A large number of claws 32 are radially attached to the rotor shaft 31 at regular intervals in the circumferential and axial directions. The rotor shaft 31 and the claws 32 are integrated to constitute the earth crushing section 3 . The earth crushing unit 3 acquires rotational power output from the tractor at the input shaft 211 and is transmitted to the rotor shaft 31 through the input case 21 and the transmission case 23 to be rotationally driven. This rotary drive crushes the soil.

The first crushed earth unit 3 receives power input from the input shaft 211 and is driven to rotate. The power input from the input shaft 211 is changed by the gears installed in the input case 211, and the output shaft (not shown) passing through the pipe frame 22 protruding laterally on one of the left and right sides of the transmission case 23. is transmitted to By arranging transmission members (not shown) such as chains and sprockets in the transmission case 23 , the power of the tractor is transmitted to the first crushed earth unit 3 .

A first cover body 4 is provided on the upper portion of the first crushed earth section 3 so as to be along the rotation outer circumference of the claw 32 and to be spaced apart. The first cover body 4 has left and right side ends attached to the transmission case 23 and the support frame 24 . By covering the upper portion of the crushed earth section 3 with the first cover body 4 in this way, the tilled soil scattered from the crushed earth section 3 side is prevented from scattering upward.

Here, the second working bodies 11L and 11R for extending the body width of the agricultural working machine 1 will be described. The first cover body 4 of the first working body 11 and the first crushed earth part 3 are provided on both left and right sides of the first cover body 4 and the first crushed earth part 3 of the first working body 11 as second working bodies 11L and 11R. A similar member is provided. The second working body 11L, which is located on the left side of the traveling direction and works, has the second cover body 4L and the second crushed earth section 3L, and the second working body 11R, which is located on the right side of the traveling direction and works, has the second A cover body 4R and a second crushed earth section 3R are respectively arranged. The left second working body 11L and the right second working body 11R have mutually symmetrical structures.

The second crushed earth units 3L and 3R in the working state with the body width expanded are located on the same straight line on the left side of the first crushed earth unit 3 located in the center in the working state. The second crushed earth parts 3L, 3R have second rotor shafts 31L, 31R and claws 32, like the first crushed earth part 3 does. Claws 32 are radially arranged on the second rotor shafts 31L and 31R at regular intervals in the axial direction, and soil crushing work can be performed by obtaining rotational power. Acquisition of power is obtained through a dog clutch 33 arranged at the end of the first crushed earth section 3 . Alternatively, power is obtained by transmission from the transmission shaft transmitted from the input case 21 of the first working body 11 to side transmission cases (not shown) provided on the second working bodies 11L and 11R.

Second cover bodies 4L and 4R are provided to cover the upper and lateral sides of the second crushed earth sections 3L and 3R. Side covers 42L and 42R are provided on the left and right sides of the second cover bodies 4L and 4R, respectively. Both ends of the second crushed earth parts 3L, 3R are supported by bearings installed in the side covers 42L, 42R, and the second crushed earth parts 3L, 3R are rotatable between the side covers 42L, 42R. . The side covers 42L, 42R prevent mud and soil generated from the second crushed earth sections 3L, 3R from scattering upward and in the width direction with respect to the traveling direction.

Support frames 41L and 41R are provided above the second cover bodies 4L and 4R and on the first work body 11 side. The fulcrum frames 41</b>L and 41</b>R are members that protrude toward the first working body 11 and are connected to the fulcrum portion 25 . The fulcrum frames 41L, 41R are integrated with the second crushed earth parts 3L, 3R, the second cover bodies 4L, 4R, and the side covers 42L, 42R, and rotate upward about the fulcrum part 25. By moving, the second working bodies 11L and 11R can be switched between the working state and the retracted state. The first working body 11 further includes a first leveling body 5 . Similarly, the second working body 11L has a second leveling body 5L, and the second working body 11R has a second leveling body 5R.

A first ground leveling body 5 is provided at the rear end of the first cover body 4 so as to hang down rearward and downward. Similarly, the second leveling bodies 5L, 5R are provided so as to hang backward and downward from the rear ends of the first cover bodies 4L, 4R of the left and right second working bodies 11L, 11R. Since the second ground leveling bodies 5L and 5R are attached to the second cover bodies 4L and 4R, respectively, when the agricultural work machine 1 changes between the working state and the storage state, the extension side first cover bodies 4L and 4R and the extension side It rotates around the fulcrum part 25 together with the crushed earth parts 3L and 3R on the side.

The first ground leveling body 5 includes a first front ground leveling body 51 and a first rear ground leveling body 56 . The left and right second ground leveling bodies 5L and 5R similarly include second front ground leveling bodies 51L, 51R and second rear ground leveling bodies 56L, 56R. The first front leveling body 51 has a plate 511 with a lateral width set to be substantially the same as that of the first cover body 4, and is vertically rotatable by a plurality of hinges 52 arranged at the front end or upper end. is. The rotation fulcrum axis of the hinge 52 is directed left and right in the traveling direction and is parallel to the axis of the rotor shaft 31 . Therefore, the lower side of the first front ground leveling body 51 can be rotated away from or closer to the rotational diameter of the claw 32 . The second front ground leveling bodies 51L and 51R also have plates 511L and 511R whose left and right widths are set to substantially the same extent as the second cover bodies 4L and 4R, like the first front ground leveling body 51, and have front ends or It is vertically rotatable by a plurality of hinges 52L and 52R arranged at the upper end.

Since the first front leveling body 51 and the second front leveling bodies 51L and 51R are arranged so as to cover the rear of the first and second crushed earth parts 3 and 3L and 3R, the soil crushed in each crushed earth part Prevents soil from scattering backwards. In addition, the first front leveling body 51 and the second front leveling bodies 51L, 51R during earth-breaking work are rotated up and down to be grounded, so that after earth-breaking in the first earth-breaking section 3 and second earth-breaking sections 3L, 3R, level the soil.

A first rear ground leveling body 56 is attached to the rear end portion of the first front ground leveling body 51 so as to be vertically rotatable. Similarly, second rear ground leveling bodies 56L, 56R are attached to the rear ends of the second front ground leveling bodies 51L, 51R so as to be vertically rotatable. The first rear ground body 56 and the second front ground body 51L, 51R are members elongated in the width direction with respect to the direction of travel, and pivot points 562, 562L, 562R are connected to the first front ground body 51 and the second front ground body 51L. , 51R so that they can rotate vertically. During puddling work, the first rear ground leveling body 56, which is in a substantially horizontal state, contacts and presses the crushed soil surface after passing the first front ground leveling body 51, thereby separating the first front ground leveling body 51 and the second front ground leveling body 51. The crushed soil surface that could not be sufficiently leveled and leveled by the leveling bodies 51L and 51R is leveled with higher precision, and the surface after leveling is leveled.

As shown in FIGS. 1 and 2, on the lateral sides of the second rear ground leveling body 56L and the second rear ground leveling body 56R in the width direction with respect to the advancing direction, there are provided second rotatable fulcrums 71L and 71R. A third working body 7L and a third working body 7R are provided. The rotation fulcrums 71L and 71R have axes extending in the traveling direction at the outer ends in the width direction with respect to the traveling direction of the second rear ground leveling body 56L and the second rear ground leveling body 56R. The third working body 7L and the third working body 7R are rotatable in the left-right direction on the side of the second rear ground leveling body 56L and the second rear ground leveling body 56R. The third working bodies 7L and 7R may also be called extended ground leveling bodies.

The third working bodies 7L and 7R can expand or contract the ground leveling width of the second rear ground leveling body 56L and the second rear ground leveling body 56R by rotating. The attitude of the third working bodies 7L and 7R can be changed to a ground leveling body deployed state in which the ground leveling width is expanded, or a ground leveling body retracted state in which the ground leveling width is reduced.

The third working body 7L and the third working body 7R indicated by solid lines in FIGS. 1 and 2 show the ground leveling body deployed state. The ground leveling body deployed state is a state in which the third working bodies 7L, 7R are positioned laterally in the width direction with respect to the traveling direction of the second rear ground leveling bodies 56L, 56R. In the deployed state of the ground leveling body, the ground leveling widths of the second rear leveling body 56L and the second rear leveling body 56R are further expanded in the left-right direction, and it is possible to level the ground more widely and uniformly after crushed soil.

The third working body 7L and the third working body 7R indicated by two-dot chain lines in FIGS. 1 and 2 show the ground leveling body retracted state. The ground leveling body retracted state means that the third working body 7L and the third working body 7R rotate about the rotation fulcrum portion 71 and are positioned above the second rear ground leveling body 56L and the second rear ground leveling body 56R. It is a state in which the grading width is shortened. By putting the third working bodies 7L, 7R in the ground leveling member retracted state, it is possible to prevent sideways projection and avoid collisions with other objects except during work using the third working bodies 7L, 7R.

The agricultural work machine 1 changes the posture of the second working bodies 11L, 11R and the third working bodies 7L, 7R, and the driving device 8 for vertically rotating the first rear ground leveling body 56 and the second rear ground leveling bodies 56L, 56R. is provided. The drive device 8 receives and processes a signal, which is command information transmitted in accordance with the operation of the operation unit A arranged close to the operator, by the control unit B provided in the agricultural work machine 1, and then the drive device 8 drive and control each actuator provided for Along with this control, the second working bodies 11L, 11R, the third working body, the first rear ground leveling body 56, and the second rear ground leveling bodies 56L, 56R can be operated.

The driving device 8 is composed of a first driving device 81 , a second driving device 84 and a third driving device 87 . Each movable part provided in the agricultural implement 1 is driven. The first driving device 81 rotates the second working bodies 11L and 11R to change the deployed posture and the retracted posture. The second driving device 84 is a device that drives the third working bodies 7L and 7R to change the attitude thereof to the ground leveling body deployed state or the ground leveling body retracted state. The third driving device 87 is a device that drives the first rear ground leveling body 56 and the second rear ground leveling bodies 56L and 56R to rotate them in the vertical direction.

The first driving device 81 is composed of a cylinder that can be extended and contracted in the longitudinal direction by fluid pressure, and one end is attached to each of the left and right ends of the frame 2 . The other end of one first driving device 81 is attached to the left fulcrum frame 41L, and the expansion and contraction of the first driving device 81 can rotate the second working body 11L. Similarly, the other end of the other first driving device 81 is attached to the right fulcrum frame 41R, and the expansion and contraction of the first driving device 81 can rotate the second working body 11R. In the case of this embodiment, the shortening operation of the first driving device 81 brings the second working bodies 11L and 11R into the deployed posture as shown in FIGS. Further, the extension operation of the first driving device 81 brings the second working bodies 11L and 11R into the retracted posture as shown in FIGS.

To operate the first driving device 81, the button A1 arranged in the operation portion A corresponding to the operation of the first driving device 81 is operated. Each first driving device 81 has a button A1a for shortening operation and a button A1b for extending operation. In addition, by operating the switching button A2, it is possible to switch between an individual mode in which the left and right first drive devices 81 are individually stretched and contracted, and a simultaneous mode in which the two first drive devices 81 are simultaneously stretched and contracted. be.

The second driving device 84 is provided on the second working bodies 11L and 11R, and changes the posture of the third working bodies 7L and 7R to the ground leveling body deployment state or the ground leveling body retracted state. In the case of the embodiment, the second driving device 84 is provided on the left end of the second cover body 4L in the traveling direction and on the right end of the second cover body 4R. The second driving device 84 includes a motor 841 that is an actuator capable of outputting rotational power, a pinion gear 842 attached to the motor 841, a fan-shaped gear 843 that meshes with the pinion gear 842, and a rotating shaft 843a of the gear 843. It has an L-shaped arm 844 that rotates integrally with a gear 843, and a wire 845 that connects the arm 844 and the third working bodies 7L, 7R. The pinion gear 842 may also be called the first gear 842 and the gear 843 may be called the second gear 843 .

The motor 841 can be rotated forward and backward, and this rotational power is passed through a pinion gear 842 and a gear 843 to allow the arm 844 to swing in the horizontal direction.
By connecting the tip of the arm 844 that swings to the left and right and the third working bodies 7L and 7R with a wire 845, the third working bodies 7L and 7R can rotate about the rotation fulcrums 71L and 71R. . The third working bodies 7L and 7R, which are extended ground leveling bodies, can change their attitudes to the ground leveling body extended state or the ground leveling body retracted state by the operation of the second driving device 84. FIG. The third working bodies 7L and 7R indicated by solid lines in FIGS. 1 and 2 represent the ground leveling body deployed state, and the third working bodies 7L and 7R represented by the two-dot chain line represent the ground leveling body retracted state. Furthermore, the third working bodies 7L and 7R indicated by broken lines in FIGS. 4 and 5 are in the ground leveling body retracted state.

In order to operate the second driving device 84, the button A3 corresponding to the operation of the second driving device 84 arranged in the operation portion A is operated. The second driving device 84 has a button A3a for putting the third working bodies 7L and 7R into the ground leveling body deployment state and a button A3b for making the ground leveling body retracted state. It is possible to change the posture of the three working bodies 7L and 7R. Further, by operating the switching button A2, an individual mode in which the second driving devices 84 arranged on the left and right second working bodies 11L and 11R are separately operated, and two first driving devices 81 are operated. It is possible to switch to a simultaneous mode in which both are simultaneously operated.

The third driving device 87 is provided on the first cover body 4 and vertically rotates the first rear ground leveling body 56 and the second rear ground leveling bodies 56L and 56R. The third driving device 87 in the embodiment is attached to the input case 21 and the top mast 212 positioned on the first cover body 4 . When the second working bodies 11L and 11R shown in FIGS. 4 and 5 are in the retracted posture, only the first rear ground leveling body 56 can be vertically rotated. When the second working bodies 11L and 11R shown in FIGS. 1 to 3 are in the deployed posture, the left and right ends of the second rear ground leveling bodies 56L and 56R are aligned with the left and right ends of the first rear ground leveling body 56, respectively. By connecting, the rotational motion of the first rear ground leveling body 56 is transmitted to the second rear ground leveling bodies 56L, 56R, and the second rear ground leveling bodies 56L, 56R are integrated with the first rear ground leveling body 56 to rotate. can act.

The third drive device 87 includes a motor 871 that is an actuator capable of outputting rotational power in a first rotation direction and a second rotation direction, a pinion gear 872 attached to the motor 871, a fan-shaped gear 873 that meshes with the pinion gear 872, An engaging member 874 which has an L-shaped engaging groove 874a and which rotates as the gear 873 rotates, and one end portion of which engages with the engaging groove 874a as the engaging member 874 rotates. and a mating engagement rod 875 . The first rear ground level body 56 connects the first rear ground level body 56 and the frame 2 or the input case 21, and has a link mechanism 561 having a bendable bending portion 561a at an intermediate portion. The other end side of the engaging rod 875 is connected to the vicinity of this bent portion 561a. The pinion gear 872 may also be called the first gear 872 and the gear 873 may be called the second gear 873 .

The link mechanism 561 can move vertically in conjunction with the vertical rotation of the first rear ground leveling member 56 . Therefore, the engaging rod 875 connected to the link mechanism 561 is also movable in the longitudinal direction. When engaged with the engagement groove 874a of the engagement member 874, the engagement rod 875 is prevented from moving in the longitudinal direction, so the movement of the bent portion 561a is also prevented. As a result, the first rear ground leveling member 56 is fixed so as not to rotate vertically. When the engaging member 874 is rotated by the motor 871 and disengaged from the engaging groove 874a, the engaging groove 874a is partially released. In the case of the embodiment, the front side of the engagement member 874 of the engagement groove 874a is opened, and the engagement rod 875 is allowed to move forward in the direction of travel in the longitudinal direction. As a result, the first rear ground leveling body 56 can be freely rotated upward from the position where vertical rotation is fixed.

To operate the third driving device 84, the button A4 corresponding to the operation of the third driving device 87 arranged in the operation portion A is operated. The third driving device 87 has a button A4a for fixing the first rear ground leveling body 56 and a button A4b for releasing the first rear ground leveling body 56, and the corresponding button is operated. , it is possible to fix or release the rotation of the first rear ground leveling body 56 .

With the above configuration, the agricultural work machine 1 can take the deployed posture or the retracted posture by rotating the second working bodies 11L and 11R in the left-right direction with respect to the first working body 11. As shown in FIG. Further, the third working bodies 7L and 7R can be brought into the ground leveling body unfolded state or the ground leveling body retracted state by rotating in the lateral direction with respect to the second working bodies 11L and 11R. Further, the first rear ground leveling body 56 can be in a fixed state in which it cannot be vertically rotated with respect to the first front ground leveling body 51, or in a fixed state in which it can be vertically rotated.

When the second working bodies 11L and 11R are changed from the deployed posture to the retracted posture, or when the retracted posture is changed to the deployed posture, the third working bodies 7L and 7R are preferably in the ground leveling member retracted state. As shown in FIG. 4, the second working bodies 11L and 11R in the retracted posture are close to each other. If the second working bodies 11L and 11R and the third working bodies 7L and 7R are operated in this state, they may interfere with each other. In order to prevent these, it must be properly controlled.

Also, the second rear ground leveling bodies 56L and 56R connected to the first rear ground leveling body 56 are not properly connected to each other unless they are in the same vertical rotation position when viewed from the direction orthogonal to the traveling direction. sometimes not.

In order to operate properly, the controller B correctly recognizes the positions of the second working bodies 11L, 11R, the third working bodies 7L, 7R, and the first rear leveling body 56, and operates only when they are in the proper positions. need to let In recognition of this recognition, command information for operating the driving device is transmitted from the operation unit by button operation performed by the operator, and flag information is generated and read in the control unit B based on the command information received by the control unit B. by doing.

An operation flow for changing the second working bodies 11L and 11R from the retracted posture to the deployed posture will be described with reference to FIG. Note that the description refers to the case where only the second working body 11L is changed from the retracted posture to the deployed posture. Operating only the second working body 11R and simultaneously operating the second working body 11L and the second working body 11R are the same processes as the operation of only the second working body 11L, and will be omitted for redundancy. When the second working body 11L is in the deployed posture, the flag information F1 indicating whether the second working body 11L is deployed or not stored in the storage section B1 configured in the control section B is stored or used. and generate.

In step S1, the operator operates the deployment button A1a of the operation unit A. As shown in FIG. The operation unit A transmits a command signal for deploying the second working body 11L, and the control unit receives this command signal. Upon receiving the command signal, the control unit executes step S2 and controls the second working body 11L to start the deployment operation. That is, the first driving device 81 is operated by the control unit, and the second working body 11L starts rotating.

Next, in step S3, it is determined whether or not the deployment flag of the second working body 11L is OFF. That is, the determination is made by reading the flag information of the second working body 11L stored in the storage section B1. When it is determined that the flag information of the second working body 11L stored in the storage section B1 is OFF, the process proceeds to the next step S4. That is, it is determined that the state of the second working body 11L at the time when the operator starts the operation is the retracted posture, and the process proceeds to step S4. On the other hand, if it is determined that the deployment flag is not OFF, the process proceeds to step S6, which will be described later. That is, according to the flag information F1 of the second working body 11L stored in the storage unit B1 at the time when the operator starts the operation, it is determined that the second working body 11L is in a posture other than the retracted posture. It ignores S5 and moves to step S6.

In step S4, it is determined whether or not the operation time of the deploying operation button A1a of the second working body 11L by the operator has been continued for a preset time or longer. That is, it is determined whether or not the operation of the button A1a in step S1 is continued. If the operation time of the button A1a has passed longer than the set time, the process proceeds to the next step S5. If the deployment operation button A1a of the second working body 11L has not been continuously operated by the operator for the preset time or longer, step S5 is ignored and the process proceeds to step S6, which will be described later.

In step S5, the control unit B turns ON the deployment flag, which is the flag information F1 of the second working body 11L. After generating the flag information F1, the process proceeds to step S6. In step S6, it is determined whether or not the operation to deploy the second working body 11L is being continued. That is, similarly to step S4, it is determined again whether the operation of the button A1a is continued. If the operation to deploy the second working body 11L is continuing, that is, if it is determined that the operation of the button A1a continues and the control unit B continues to receive the command signal, Returning to step S2, the above control steps are sequentially repeated. If the button A1a has not been operated continuously, that is, if it is determined that the button A1a has not been operated and the control unit B has not received the command signal, the process proceeds to the next step S7.

In step S7, based on the determination in step S6 that the button A1a is not operated, the control section B stops the operation of the first driving device 81 and the operation of the second working body 11L.

Next, the process proceeds to step S8 to store the deployment flag, which is the current flag information F1 of the second working body 11L. In this case, in the step S5, the flag information F1 generated by setting the development flag to ON is stored in the storage section B1, and the control step ends.

According to the above control flow, at the stage of shifting from the retracted posture to the deployed posture, the controller determines the postures of the second working bodies 11L and 11R of the agricultural work machine 1 according to the time (operation time) during which the operation portion is operated. Therefore, there is no need to add a special member to the work machine side. That is, if the existing operation unit A is provided, the attitude of the second working body 11L can be determined based on the operation time, so the agricultural work machine 1 can be configured simply. In addition, since it can be constructed without adding devices and members for determining the attitude, it can be provided to consumers without increasing the cost.

Since the operation of each part is configured to operate only when the operator is operating the operation part A, if an abnormality occurs in the work machine and its constituent members, all that is required is to stop the operation. stops working. Therefore, when an abnormality or the like occurs, it is configured so that it can be dealt with as soon as the operator stops operating. Also, although not shown, if the operator stops operating the operation unit A in the middle of the control flow of FIG. The flag information F1 at that stage is stored in the storage section B1.

The flag information F1 in the case of changing the posture of the second working bodies 11L and 11R to the deployed posture is configured such that the flag information F1 is generated according to the operation time from the start of operation on the operation unit B. FIG. For this reason, when the operation unit is accidentally and erroneously pressed momentarily, the control unit is prevented from switching the flag information F1, and erroneous generation of the flag information F1 due to an erroneous operation can be prevented by an extremely simple method. .

Furthermore, among the steps for determining the operation time of operating the operation unit A, the operation elapsed time of the button A1a, which is the first step, is determined, and the flag information F1 is generated. Next, there is a control step of storing the flag information after the operation time of the operation portion A is determined and the operation of the button A1a is stopped. Therefore, it is possible to prevent the flag information F1 from being stored due to an erroneous operation, thereby preventing an erroneous determination by the control unit.

When the second working bodies 11L and 11R change from the retracted posture to the deployed posture, the postures of the second working bodies 11L and 11R are determined by the flag information F1 for posture determination, so the second working bodies 11L and 11R are stored. It is possible to prevent erroneous operation due to erroneous operation of the operation portions of the third working bodies 7L and 7R.

A control flow for changing the second working bodies 11L and 11R from the deployed posture to the retracted posture will be described with reference to FIG. Note that the description refers to the case where only the second working body 11L is changed from the deployed posture to the retracted deployed posture. Operating only the second working body 11R and simultaneously operating the second working body 11L and the second working body 11R are the same processes as the operation of only the second working body 11L, and will be omitted for redundancy. When the second working body 11L is in the retracted posture, the second working body flag information indicating whether or not the second working body 11L is deployed is stored in the storage section B1 configured in the control section B. Certain flag information F1 and flag information F2, which is third working body flag information indicating whether or not the third working body 7L is deployed, are stored or used and generated.

In step S11, the operator operates the storage button A1b of the operation unit A. As shown in FIG. In response to an operation on the operation part A, the operation part A transmits a command signal. After receiving the command signal, the control unit B executes step S12 to indicate the ground leveling body deployment state or the ground leveling body storage state of the third working body 7L, which is the extended ground leveling body, stored in the storage unit B1. It is determined whether or not the flag information F2 is ON. When the extended ground leveling body deployment flag information is ON, it means that the third working bodies 7L and 7R, which are extended ground leveling bodies, are in the extended ground leveling body deployment state. If the extended ground leveling body is in the ground leveling body unfolded state, the flag information F2 is ON, so YES is determined.

In step S12, the deployment flag of the third working body 7LR, which is the extended ground leveling body, stored in the storage unit B1 is not ON, that is, the flag information F2 indicating that the third working body 7LR is in the storage state of the ground leveling body is If it is determined to be storage, the following steps S13 and S14 are skipped, and the control flow proceeds to step S15, which will be described later. In step S12, if the extended ground leveling body is in the deployed state, it is determined that the flag information F2 is ON indicating deployment, and the process proceeds to the next step S13. In step S13, the control unit retracts the third working body 7L, which is the extended ground leveling body in the deployed state. In the retracting operation, the second driving device 84 of the driving device 8 is driven to move the third working body 7L to the ground leveling member retracted state. Next, in step S14, the development flag information F2 of the extended ground leveling body 7L is turned off. That is, the flag information F2 is generated assuming that the third working body 7L, which is the extended ground leveling body, is in the ground leveling body storage state. After that, the process proceeds to step S15.

In step S15, the second working body 11L is retracted. That is, the first driving device 81 is operated to change the second working body 11L from the deployed posture to the retracted posture. Then, the process proceeds to step S16, and the deployment flag of the second working body is turned off. That is, information indicating that the flag information F1, which is the development information of the second working body 11L, is stored is generated. After generation, the process moves to step S17.

In step S17, it is determined whether or not the control unit B is continuing the operation of retracting the second working body. That is, it is determined whether or not the operator continues to operate the storage button A1b from step S1 and the control unit B continues to receive command information. If it is determined that the operator continues to operate the storage button A1b from step S1, the process returns to step S12 to repeat the control flow again. In other words, as long as the retraction button A1b for placing the second working body 11L in the retracted posture continues to be operated, the first driving device 81 can continue to operate. If the operation is not continuing, the control unit B does not receive the command signal, so the control unit B determines that the operation unit A has not been operated, and proceeds to step S18. At step S18, the controller B stops the operation of the first driving device 81. FIG.

After step S18, the process proceeds to step S19, the current flag information F2 of the second working body 11L is stored in the storage unit B1, and the control flow ends. That is, the control unit stores the flag information F2 of the second working body 11L as indicating storage. By step S19, the controller B can determine that the second working body 11L is stored.

When the operation unit A is operated so as to store the second working body 11L, the posture state of the second working body 11L is determined from the flag information stored in the storage unit B1 of the control unit B, and according to this determination, can automatically change the posture of the third working body 7L to the ground leveling body retracted state. Therefore, the operator can change the posture of the second working body 11L without worrying about the posture of the third working body 7L, thereby reducing the burden on the operator.

After operating the operation part A to retract the second working body 11L, when the operator stops this operation, the control part determines that the second working body 11L is in the retracted posture. Therefore, there is no need to add a special member to the agricultural working machine 1, and the main body of the agricultural working machine 1 can be configured simply and inexpensively. When the second working body is changed from the deployed posture to the retracted posture, each operation of the second working body 11L and the third working body 7L is configured to operate only when the operator is operating the operation portion A. there is Even if an abnormality or the like occurs in the agricultural implement 1, the operator can stop the operation of the movable portion by immediately stopping the operation of the operation portion A.

At the stage when the operator stops the operation of storing the second working body 11L with the operation portion A, the generated flag information F1 and F2 are stored in the storage portion B1. Except for the state in which the second working body 11L is positioned to the side of the first working body 11 in which the second working body 11L is in the fully deployed posture, it is determined that the second working body 11L is in the retracted posture. This prevents the formation of an imperfectly deployed posture. At the start of operation of the operation unit A from the deployed posture of the second working body 11L to the retracted posture, the posture determination of the posture of the third working body 7L is also performed. Therefore, it is possible to prevent the second working body 7L from being retracted while the third working body 7L, which is the extended ground leveling body, is in the deployed state, and damage to the agricultural work machine 1 can be prevented.

As described above, only the second working body 11L is moved from the deployed posture to the retracted posture. and generation of flag information F1 and F2. Furthermore, when the second working body 11L and the second working body 11R are moved to the retracted posture at the same time, this is performed with the movement of both the third working body 7L and the third working body 7R and the generation of the flag information F1 and F2. .

A control flow for changing the third working bodies 7L and 7R from the ground leveling body retracted state to the ground leveling body unfolded state will be described with reference to FIG. Note that the description refers to the case where the third working body 7L, which is the left working body, is changed from the ground leveling body retracted state to the ground leveling body unfolded state. The operation of only the third working body 11R, which is the right working body, and the simultaneous movement of the third working body 7L and the third working body 7R are the same processes as the operation of only the third working body 7L to be described. It is omitted because it is duplicated. When the third working body 7L is placed in the deployed state of the ground leveling body, flag information F1 indicating whether or not the second working body 11L is stored in the storage section B1 configured in the control section B, and , and stores or uses and generates flag information F2 indicating whether or not the third working body 7L is deployed.

First, in step S21, the operator performs an operation to deploy the extended ground leveling body, which is the third working body 7L. In other words, the operator operates the unfolding button A3a of the operating unit A for unfolding the third working body 7L. Then, the operation part A transmits a command signal for operating the second driving device 84 so as to drive the extended ground leveling body to the unfolding side. Upon receiving the command signal, controller B executes step S22.

In step S22, the control unit B determines whether the flag information F1 indicating the current state of the second working body 11L stored in the storage unit B1 is unfolded. When the flag information F1 is expanded, that is, when it is determined that the second working body 11L is in the expanded posture, the process proceeds to step S23. When it is determined that the flag information F1 is not deployed, that is, the second working body 11L is in the retracted posture, the process proceeds to step S30, which will be described later.

In step S23, the control unit B expands the flag information of the extended ground leveling body. That is, the control unit B generates the flag information F2 indicating the unfolded state of the ground leveling member 7L.

Next, in step S24, the third working body 7L, which is an extended ground leveling body, is started to deploy in the direction of the deployed state, and the process proceeds to step S25.

In step S25, it is determined whether or not it is within the deployment operation time of the extended ground leveling body. That is, it is determined whether or not the operation elapsed time from the start of operation of the button A3a of the operation unit A is within the designated time. The deployment operation time is preferably 1.0 to 2.8 seconds, and is set to 1.9 seconds in the embodiment. If it is not within the deployment operation time, that is, if the elapsed time from the start of operation of the button A3a has exceeded the set deployment operation time, the process proceeds to step S26. On the other hand, if it is within the deployment operation time, that is, if the elapsed time from the start of operation of the button A3a is less than the set deployment operation time, the process returns to step S24 and the control is repeated.

At step S26, the controller B stops the operation of deploying the extended ground leveling body. That is, the operation of the motor 841 of the second driving device 84 is stopped. At this point, the tooth surface of the pinion gear 842, which is the first gear, on the rotational direction side is pressed against the tooth surface of the gear 843, which is the second gear, at the pressing point P as shown in FIG. A gap called backlash 85 is generated on the opposite side of the tooth surface of the pinion gear 842 in the rotational direction, which is symmetrical to the tooth surface of the gear 843 and the tooth surface of the pinion gear 842 .

After that, the process proceeds to step S27, and it is determined whether or not the waiting time has elapsed. The waiting time is the time that has elapsed since the operation of the motor 841 was stopped in step S26, and is set in advance. A waiting time of 0.1 to 0.2 seconds is preferable, and 0.15 seconds is adopted in the embodiment. When the controller B determines that the waiting time has passed, the process proceeds to step S28. If the controller B determines that the waiting time has not elapsed, the process returns to step S26 and repeats the control.

In step S28, the control section B causes the extended ground leveling body to be reversed in the retracted state. That is, the motor 841 of the second driving device 84 is rotated in the direction opposite to the direction rotated in step S24. After that, in step S29, it is judged whether or not it is within the reverse operation time of the extended ground leveling body. A very short time of 0.005 to 0.015 seconds is suitable for the reverse rotation operation time, and 0.01 second is adopted in the case of the embodiment. In the reverse operation, the tooth surface of the first gear 842 operates within a range not overriding the tooth surface of the second gear 843, and the second gear 843 does not rotate. Also, by setting the waiting time, a rapid increase in the electromotive force during reverse rotation is prevented. If the controller B determines that it is not within the set reverse deployment operation time, that is, that the reverse rotation operation time has passed the reverse rotation deployment operation time, the process proceeds to step S30. If the controller B determines that the reverse rotation time has not elapsed, the process returns to step S28 and repeats the control.

After shifting to step S30, the control unit B stops the operation of the extended ground leveling body. That is, the reverse rotation of the motor 841 of the second driving device 84 for driving the third working body 7L is stopped. When step S30 is finished, as shown in FIG. 12, the tooth surface of the pinion gear 842, which is the first gear, is released from the pressing state with the tooth surface of the gear 843, which is the second gear. A gap 85a is generated. A gap 85 b having a distance smaller than the backlash 85 is generated on the tooth surface side of the pinion gear 842 that presses the tooth surface of the gear 843 and on the opposite side in the rotational direction.

After step S30 is finished, the process proceeds to step S31, where the flag information F2 of the third working body 7L and the flag information F1 of the second working body 11L, which are the current flag information, are respectively stored in the storage section B1, and the control flow ends. do. In the example of the description, when it is determined that the flag information F1 is unfolded in step S23, the flag information F1 indicating the unfolded attitude of the second working body 11L and the flag information indicating the unfolded attitude of the third working body 11L generated in step S23. Store F2. If it is determined in step S23 that the flag information F1 is not expanded, the process proceeds to step S30 while the second working body 11L and the third working body 7R are stored. Information F1 and flag information F2 indicating the stored posture of the third working body 11L are stored in the storage unit B1.

A control flow for changing the third working bodies 7L and 7R from the ground leveling body deployed state to the ground leveling body retracted state will be described with reference to FIG. In the same manner as above, the description refers to the case where the third working body 7L, which is the left working body, is changed from the ground leveling body unfolded state to the ground leveling body retracted state. The operation of only the third working body 11R, which is the right working body, and the simultaneous operation of the third working body 7L and the third working body 7R are omitted. When the third working body 7L is placed in the deployed state of the ground leveling body, flag information F1 indicating whether or not the second working body 11L is stored in the storage section B1 configured in the control section B, and , and stores or uses and generates flag information F2 indicating whether or not the third working body 7L is deployed.

First, in step S41, the operator performs an operation to store the extended ground leveling body, which is the third working body 7L. That is, the operator operates the retraction button A3b for retracting the third working body 7L of the operation unit A. FIG. Then, the operation part A transmits a command signal for operating the second driving device 84 so as to drive the extended ground leveling body toward the storage side. Upon receiving the command signal, control unit B executes step S42.

In step S42, the controller B retracts the extended ground leveling body 7L. That is, in order to bring the third working body 7L into the ground leveling member retracted state, the motor 841 of the second driving device 84 is rotated in the direction in which the third working body 7L is retracted. Next, the process proceeds to step S43, and the controller B determines whether or not it is within the extended ground leveling body storing operation time. That is, in step S41, it is determined whether or not the operation time that has elapsed since the operator operated the retraction button A3b is within the range of the predetermined extended ground leveling body retraction operation time. If the operation time is within the extended ground leveling body storing operation time, the process returns to step S42 and repeats the control. When the control unit B determines that the operation time has exceeded the extended ground leveling member storing operation time, the process proceeds to the next step S44.

At step S44, the controller B stops the operation of storing the extended ground leveling body. That is, the rotation of the motor 841 of the second driving device 84 in the direction in which the third working body 7L is retracted is stopped. At this point, the tooth surface of the pinion gear 842, which is the first gear, on the rotational direction side is pressed against the tooth surface of the gear 843, which is the second gear, at the pressing point P as shown in FIG. A gap called backlash 85 is generated on the opposite side of the tooth surface of the pinion gear 842 in the rotational direction, which is symmetrical to the tooth surface of the gear 843 and the tooth surface of the pinion gear 842 .

Next, in step S45, it is determined whether or not the waiting time has elapsed. The waiting time is the time that has elapsed since the operation of the motor 841 was stopped in step S44, and is set in advance. A waiting time of 0.1 to 0.2 seconds is preferable, and 0.15 seconds is adopted in the embodiment. If the controller B determines that the waiting time has not elapsed, the process returns to step S44 and repeats the control. When the controller B determines that the waiting time has passed, the process proceeds to step S46.

In step S46, the controller B causes the extended ground leveling body 7L to operate in the reverse direction, which is the direction in which it is deployed. That is, the motor 841 of the second drive device 84 is rotated in the direction opposite to the direction rotated in step S42.

After that, the process proceeds to step S47, and it is determined whether or not it is within the reverse operation time of the extended leveling body 7L. A very short time of 0.005 to 0.015 seconds is suitable for the reverse rotation operation time, and 0.01 second is adopted in the case of the embodiment. Therefore, in the reverse operation, the tooth surface of the first gear 842 operates within a range not overriding the tooth surface of the second gear 843, and the second gear 843 does not rotate. Also, by setting the waiting time, a rapid increase in the electromotive force during reverse rotation is prevented.

If the control unit B determines that the reverse rotation operation time is not within the set reverse rotation deployment operation time, that is, that the reverse rotation operation time has passed the set time, the process proceeds to step S48. On the other hand, if the controller B determines that the reverse rotation time has not elapsed, the process returns to step S46 and repeats the control.

After shifting to step S48, the control unit B stops the operation of the extended ground leveling body 7L. That is, the reverse rotation of the motor 841 of the second driving device 84 for driving the third working body 7L is stopped. When step S48 is finished, as shown in FIG. 12, the tooth surface of the pinion gear 842, which is the first gear, is released from the pressing state with the tooth surface of the gear 843, which is the second gear. A gap 85a is generated. A gap 85 b having a distance smaller than the backlash 85 is generated on the side of the tooth surface of the pinion gear 842 that presses the tooth surface of the gear 843 and on the opposite side in the rotational direction.

When step S48 ends, the process proceeds to step S49. In step S49, the control unit stores the flag information F2 of the extended ground leveling body 7L. That is, the third working body, which is the extended ground leveling body, generates flag information F2, which is information indicating the ground leveling body storage state, as storage.

After step S49 is completed, the process proceeds to step S50, the flag information F2 of the third working body 7L and the flag information F1 of the second working body 11L, which are the current flag information, are respectively stored in the storage section B1, and the control flow ends. .

When the third working bodies 7L and 7R are changed from the ground leveling body deployed state to the ground leveling body retracted state, the motor 841 operates the third working bodies 7L and 7R from the ground leveling body deployed state to the ground leveling body retracted state, and then reverses. , the flag information F2 indicating the posture of the third working body 11L is generated. After generation, the flag information F2 is stored in the storage unit B1. Also, unlike the case where the third working bodies 7L and 7R are changed from the ground leveling body retracted state to the ground leveling body unfolded state, the storing operation is performed without determining the state of the flag information F1 and F2 associated with the start of control.

As described above, the movement of only the third working body 7L to the deployed posture or the retracted posture has been mentioned. This is performed along with generation of flag information F1 indicating the attitude and flag information F2 indicating the attitude of the third working body 7R. Furthermore, when the third working body 7L and the third working body 7R are simultaneously moved to the ground leveling body retracted state or the ground leveling body unfolded state, at least one of the second working bodies 11L and 11R and the third working bodies 7L and 7R is included. This is done with the generation of action and flag information F1, F2.

When the third working bodies 7L and 7R are deployed, the third working bodies 7L and 7R can be deployed according to the flag information F1 indicating the posture state of the second working body stored in the storage unit B1. With this configuration, it is possible to prevent the third working bodies 7L and 7R from being deployed while at least one of the second working bodies 11L and 11R is in the retracted state. Therefore, the third working bodies 7L and 7R cannot deploy the third working bodies 7L and 7R unless the second working bodies 11L and 11L are in the deployed posture. Therefore, it is possible to prevent the agricultural work machine 1 from self-destructing due to unexpected operation of the third working bodies 7L and 7R while the second working bodies 11L and 11R are in the retracted state.

When the third working bodies 7L and 7R are retracted, the configuration is such that the retracting is possible regardless of the posture state of the second working bodies 11L and 11L. As described above, the third working bodies 7L and 7R can be deployed only when the second working bodies 11L and 11R are deployed. When the second working bodies 11L and 11R are in the deployed posture, the third working bodies 7L and 7R in the ground leveling body retracted state are positioned at the left and right ends of the agricultural work machine 1, and rotate about the pivot points 71L and 71R. Even if it rotates, it does not reflect on the interference that accompanies self-destruction with other members. Therefore, when the third working bodies 7L and 7R are stored, the operation can be performed quickly by omitting the flow for determining the attitude of the second working body. That is, the control flow for changing the attitude of the third working bodies 7L and 7R can be simplified.

After deploying and retracting the third working bodies 7L and 7R, the driving device 8 is automatically stopped, and flag information indicating the current attitude is stored. . That is, the agricultural implement main body can be configured simply and inexpensively.

When the posture of the third working body is changed, the operation of the third working body is performed only when the operator is operating the operation unit. stops working. Even if an abnormality or the like occurs, it is configured so that the operator can respond immediately.

Although not shown, when the operator stops operating the operation unit A in the middle of the control for putting the third working bodies 7L and 7R in the deployed state of the ground leveling bodies shown in FIG. The flag state at this time is stored. That is, when the operation of the operation unit A is stopped, the control unit B determines that the command signal has stopped, forcibly moves to step S30, executes step S31, and ends the control. This is because the operator intends to change the posture of the third working bodies 7L and 7R by recognizing that the ground leveling body is in the deployed state when the third working bodies 7L and 7R are deployed even slightly. can be recognized as Therefore, it is possible to suppress the posture change of the second working bodies 11L, 11R in the state where the third working bodies 7L, 7R are in the middle of changing their postures.

On the other hand, when the operation of the operation unit is stopped during the operation of storing the third working bodies 7L, 7R from the ground leveling body unfolded state to the ground leveling body stored state, the flag information F2 of the third working bodies 7L, 7R is generated as the stored state. without stopping the driving device 8. That is, when the operator stops operating the operation unit A during the control for putting the third working bodies 7L and 7R in the ground leveling body retracted state shown in FIG. 17, the control flow is stopped at that point. Furthermore, in other words, although the operation of the driving device 8 is stopped by stopping the control flow, the flag information F2 at this time is not generated and is not stored in the storage unit B1.

In order to make the control unit B recognize that the ground leveling body is stored, unless a procedure in accordance with a predetermined control flow is followed, it will not be recognized that the third working bodies 7L and 7R are stored. Therefore, it is possible to prompt the operator to perform an operation to securely retract the third working bodies 7L and 7R. After that, even when the second working bodies 11L and 11R are operated, the extended ground leveling bodies 7L and 7R are in the ground leveling body stored state and the control unit B recognizes that the ground leveling body is in the stored state with the flag information F2. There is no risk of damage due to operation of each part of the agricultural work machine 1 in an erroneous posture.

After the postures of the third working bodies 7L and 7R, which are extended ground leveling bodies, are changed, the first gear 842 returns to a position where the meshing pressure of the second gear 843 is not applied. A series of actions ends after rotating in the opposite direction for the distance. As a result, after the posture is changed, no pressure is generated between the paired tooth flanks, so that the tooth flanks can be prevented from sticking to each other due to rust or the like due to being left for a long period of time.

Since no meshing pressure is applied to the tooth flanks after the attitude change, no load is applied to the output shaft of the motor 841 to which the first gear 842 is connected, and the motor 841 is not damaged. In particular, since the output shaft of the motor 841 is not left under a load for a long period of non-use, the motor 841 can be used for a long period of time without being damaged.

Since the sticking of the tooth flanks and the damage to the motor 841 can be suppressed, the maintenance work by the operator can be reduced, and the cost for parts replacement can be reduced, which is economical.

A control flow in the case where the fixed state in which the rotation of the first rear ground leveling body 56 is restricted is changed to the unlocked state in which the rotation is possible will be described with reference to FIG. 18 . When the first rear ground leveling body 56 is changed from the fixed state to the unfixed state, the first rear ground leveling body 56 stored in the storage unit B1 configured in the control unit B indicates the fixed state or the unfixed state. It stores, uses, and generates flag information F3, which is terrain contour flag information. Note that the fixed state of the first rear leveling body 56 may also be referred to as a shoveling posture or a shoveling state. Further, the fixed release state of the first rear ground leveling body 56 may be referred to as a puddling posture or a puddling state.

First, in step S61, the operator performs an operation to bring the first rear ground leveling body 56 into the puddling state. In other words, the operator operates the button A4b that causes the first rear working body 56 of the operation portion A to be in the unlocked state. Then, the operating portion A transmits a command signal for operating the third driving device 87 so as to drive the first rear working body 56 into the unlocked state. Upon receiving the command signal, controller B executes step S62.

In step S62, control is performed to move to the puddling posture. That is, the control unit B rotates the motor 871 of the third driving device 87 to rotate the engaging member 874 in the direction of releasing the engagement between the engaging rod 875 and the engaging groove 874a of the engaging member 874. Let

Next, the process proceeds to step S63, and the controller B determines whether or not it is within the puddling operation time. That is, the control unit B determines whether the operation elapsed time from the start of operation of the button A4b of the operation unit A is within the designated time. The puddling operation time is preferably 1.0 to 2.8 seconds, and is set to 1.9 seconds in the embodiment. If it is within the puddling operation time, that is, if the elapsed time from the start of operation of the button A3b is less than the set puddling operation time, the process returns to step S62 and the control is repeated. If it is not within the puddling operation time, that is, if the elapsed time from the start of operation of the button A3b has passed the set puddling operation time or more, the process proceeds to step S64.

In step S64, the puddling operation is stopped. That is, the control section B stops the operation of the motor 871 of the third control device 87 . At this point, the tooth surface of the pinion gear 872, which is the first gear, on the rotational direction side is pressed against the tooth surface of the gear 843, which is the second gear, at the pressing point P as shown in FIG. A gap called backlash 88 is generated on the tooth surface side of the pinion gear 872 that is symmetrical to the tooth surface of the gear 873 and is opposite to the rotational direction.

After that, the process proceeds to step S65, and it is determined whether or not the waiting time has elapsed. The waiting time is the time that has elapsed since the operation of the motor 871 was stopped in step S64, and is set in advance. A waiting time of 0.1 to 0.2 seconds is preferable, and 0.15 seconds is adopted in the embodiment. If the controller B determines that the waiting time has not elapsed, the process returns to step S64 and repeats the control. When the control unit B determines that the waiting time has passed, the process proceeds to step S66.

In step S66, the control unit B causes the first rear ground leveling body 56 to move in the direction of fixing. That is, the motor 871 of the third driving device 87 is rotated in the direction opposite to the direction rotated in step S62.

Next, the process proceeds to step S67, and the controller B determines whether the reverse rotation operation time of the motor 871 has elapsed. A very short time of 0.005 to 0.015 seconds is suitable for the reverse rotation operation time, and 0.01 second is adopted in the case of the embodiment. In the reverse operation, the tooth surface of the first gear 872 operates within a range not overriding the tooth surface of the second gear 873, and the second gear 873 does not rotate. Also, by setting the waiting time, a rapid increase in the electromotive force during reverse rotation is prevented. If the controller B determines that the reverse rotation time has not elapsed, the process returns to step S66 to repeat the control. If the controller B determines that it is not within the set reverse deployment operation time, ie, that the reverse rotation operation time has passed, the process proceeds to step S68. By setting the waiting time, a sudden increase in the electromotive force during reverse rotation is prevented.

At step S68, the controller B stops the earth gathering operation. That is, the controller B stops the reverse rotation of the motor 871 of the third controller 87 . When step S68 is finished, as shown in FIG. 12, the tooth surface of the pinion gear 872, which is the first gear, is released from the pressing state with the tooth surface of the gear 873, which is the second gear. A gap 88a is generated. A gap 88 b having a distance smaller than the backlash 85 is generated on the tooth surface side of the pinion gear 872 that presses against the tooth surface of the gear 873 and on the opposite side in the rotational direction.

Next, the process proceeds to step S69, and the controller B turns on the puddling flag. That is, the control unit B generates the flag information F3 of the first rear ground leveling body 56 as the puddling state. After that, the process proceeds to step S70, the flag information F3 indicating the current attitude of the first rear ground leveling body 56 is stored in the storage section B1, and the control ends.

A control flow in the case where the first rear ground leveling body 56 is changed from the unlocked state in which rotation is possible to the fixed state in which rotation is restricted will be described with reference to FIG. 19 . When the first rear ground leveling body 56 is changed from the fixed state to the unfixed state, the first rear ground leveling body 56 stored in the storage unit B1 configured in the control unit B indicates the fixed state or the unfixed state. Storing or using as well as generating flag information F3.

In step S81, the operator performs a soil gathering operation. That is, the operator operates the button A4a for fixing the first rear working body 56 of the operation section A. As shown in FIG. Then, the operation part A transmits a command signal for operating the third driving device 87 so as to drive the first rear working body 56 to the fixed state. Upon receiving the command signal, control unit B executes step S82.

At step S82, the controller B turns off the paddling flag. In other words, the control unit B generates a flag that sets the flag information F3, which is information indicating the attitude of the first rear ground leveling body 56, to mulching, which is a flag different from the puddling flag.

Next, the process proceeds to step S83, and the control section B performs the earth gathering operation. That is, the controller B rotates the motor 871 of the third control device 87 to rotate the engaging member 874 in the direction in which the engaging rod 875 engages with the engaging groove 874 a of the engaging member 874 .

Next, the process proceeds to step S84, and the controller B determines whether or not it is within the earth gathering operation time. That is, the control unit B determines whether the operation elapsed time from the start of operation of the button A4a of the operation unit A is within the designated time. The earth gathering operation time is preferably 1.0 to 2.8 seconds, and is set to 1.9 seconds in the embodiment. If it is within the shoveling operation time, that is, if the elapsed time from the start of operation of the button A3a is less than the set shoveling operation time, the process returns to step S83 to repeat the control. If it is not within the shoveling operation time, that is, if the elapsed time from the start of operation of the button A3a has exceeded the set puddling operation time, the process proceeds to step S85.

At step S85, the earth gathering operation is stopped. That is, the control section B stops the operation of the motor 871 of the third control device 87 . At this point, the tooth surface of the pinion gear 872, which is the first gear, on the rotational direction side is pressed against the tooth surface of the gear 843, which is the second gear, at the pressing point P as shown in FIG. A gap called backlash 88 is generated on the tooth surface side of the pinion gear 872 that is symmetrical to the tooth surface of the gear 873 and is opposite to the rotational direction.

After that, the process proceeds to step S86, and it is determined whether or not the waiting time has elapsed. The waiting time is the time that has elapsed since the operation of the motor 871 was stopped in step S85, and is set in advance. A waiting time of 0.1 to 0.2 seconds is preferable, and 0.15 seconds is adopted in the embodiment. If the controller B determines that the waiting time has not elapsed, the process returns to step S85 and repeats the control again. When the controller B determines that the waiting time has passed, the process proceeds to step S87.

In step S87, the controller B causes the first rear ground leveling body 56 to perform a puddling operation in the direction of releasing the fixation. That is, the controller B rotates the motor 871 of the third driving device 87 in the direction opposite to the direction rotated in step S83.

Next, the process proceeds to step S88, and the controller B determines whether or not the motor 871 is within the reverse rotation operation time. A very short time of 0.005 to 0.015 seconds is suitable for the reverse rotation operation time, and 0.01 second is adopted in the case of the embodiment. In the reverse operation, the tooth surface of the first gear 872 operates within a range not overriding the tooth surface of the second gear 873, and the second gear 873 does not rotate. Also, by setting the waiting time, a rapid increase in the electromotive force during reverse rotation is prevented. If the controller B determines that the reverse rotation time has not elapsed, the process returns to step S87 and repeats the control. If the controller B determines that it is not within the set reverse deployment operation time, ie, that the reverse rotation operation time has passed the reverse rotation deployment operation time, the process proceeds to step S89.

In step S89, the controller B stops the puddling operation. That is, the controller B stops the reverse rotation of the motor 871 of the third controller 87 . When step S89 is finished, as shown in FIG. 12, the tooth surface of the pinion gear 872, which is the first gear, is released from the pressing state with the tooth surface of the gear 873, which is the second gear. A gap 88a is generated. A gap 88 b having a distance smaller than the backlash 85 is generated on the tooth surface side of the pinion gear 872 that presses against the tooth surface of the gear 873 and on the opposite side in the rotational direction.

Next, the process proceeds to step S90, the control section B stores the flag information F3 indicating the current attitude state of the first rear ground leveling body 56 in the storage section B1, and the control ends.

According to the control flow relating to the operation of the first rear ground leveling body 56 described above, the control section B can determine the fixed state and the unfixed state, which are the attitude states of the first rear ground leveling body 56 . Although not shown, this flag information F3 can be expected to be utilized in other control devices and mechanisms.

When the first rear ground leveling body 56 is to be in the unlocked state, the flag information F3 is generated after the operator operates the operating portion A and after the third driving device 87 is actually operated. On the other hand, when the first rear ground leveling body 56 is fixed, it is done immediately after the operator operates the operation portion A. With this control configuration, it is possible to recognize that the rotatable engaging member 874 is in a fixed state in all positions other than the unlocked state shown in FIG.

Since the agricultural work machine 1 of the present invention that performs puddling work is often worked in the unlocked state, the control procedure shown in FIG. It is designed to be stepped on. That is, after operating the third driving device 87 to bring the first rear ground leveling body 56 into the unlocked state, the unlocked flag information F3 is generated and stored. You can expect an improvement in performance.

10 to the fixed state shown in FIG. 9 by rotating the engaging member 874, the position of the engaging member 874 other than the position of the unlocked state shown in FIG. , are controlled so that they can all be judged to be in a fixed state. As a result, the control is not complicated, and the posture of the first rear ground leveling body 56 can be determined only by operating the operation portion A, so the configuration of the control portion B can be simplified.

Although not shown, if the operation of the operation unit A is stopped in the middle of the control to bring about the unlocked state shown in FIG. Let That is, when the operator stops operating the operation unit A, the control flow is stopped at that point. Stopping the control flow stops the operation of the third driving device 87, but does not generate and store the flag information at this point. In order to make the controller B recognize the posture of the first rear ground leveling body 56 as the unfixed state, which is the plowing state, the unfixed state is not recognized unless a procedure in accordance with a predetermined control flow is followed. . Therefore, it is possible to prompt the operator to operate so as to surely bring the attitude of the first rear ground leveling body 56 into the unfixed state.

Although not shown, when the operator stops operating the operation unit A in the middle of the control for making the fixed state shown in FIG. It is configured. That is, when the operation of the operation unit A is stopped, the control unit B determines that the command signal has stopped, forcibly moves to step S90, executes step S31, and ends the control. This is because if an operation to fix the posture of the first rear ground leveling body 56 is performed even slightly, the controller B recognizes that it is in a fixed state, so that the operator's intention to change the posture of the first rear ground leveling body 56 is conveyed to the control unit B. It can be recognized as something

As with the second driving device 84, the third driving device 87 returns to a position where the first gear 842 meshes with the second gear 843 and no pressure is applied after the posture of the first rear ground leveling body 56 is changed. A series of operations is completed by rotating in the opposite direction by a distance smaller than the backlash 88 which is the play gap of . As a result, after the posture is changed, no pressure is generated between the paired tooth flanks, so that the tooth flanks can be prevented from sticking to each other due to rust or the like due to being left for a long period of time.

After the posture of the first rear leveling body 56 is changed, no meshing pressure is applied to the tooth surface, so that no load is applied to the output shaft of the motor 871 to which the first gear 872 is connected, and the motor 871 is not damaged. In particular, since the output shaft of the motor 871 is not left under a load for a long period of non-use, the motor 871 can be used for a long period of time without being damaged.

Since the sticking of the tooth flanks and the damage to the motor 871 can be suppressed, the maintenance work by the operator can be reduced, and the cost for parts replacement can be reduced, which is economical.

Although the present invention has been described by the above embodiments, the discussion and drawings forming part of this disclosure are not intended to limit the invention. Modifications of the embodiments, examples, and operational techniques based on this disclosure are possible within the scope of the claims.

1 agricultural implement, 11 first working body, 11L second working body, 11R second working body, 5 first leveling body, 5L second leveling body, 5R second leveling body, 51 first front leveling body, 51L second Front leveling body 51R Second front leveling body 56 First rear leveling body 561 Link mechanism 561a Bending portion 56L Second rear leveling body 56R Second rear leveling body 7L Third work body 7R Third work body, 8 drive device, 81 first drive device, 84 second drive device, 841 motor, 842 pinion gear, 843 gear, 87 third drive device, 871 motor, 872 pinion gear, 873 gear, 874 engagement member, 874a engagement Groove 875 Engagement rod A Operation part B Control part B1 Storage part

Claims (3)

a first working body;
a second working body capable of changing its posture to each of a deployed posture in which it is possible to work while positioned on the side of the first working body, and a retracted posture in which it moves to the top of the first working body;
a control unit capable of controlling a driving device for changing the posture of the second working body;
An operation unit capable of transmitting a command signal to the control unit by being operated by an operator,
The control unit includes a storage unit that stores the flag information of the second working body,
The control unit, when receiving a command signal transmitted from the operation unit by an operator operating the operation unit to change the attitude of the second work object, starts the deployment operation of the second work object. and determining whether or not the flag information stored in the storage unit is OFF, and when it is determined that the flag information is OFF, the operating time of the operated operating unit is set in advance. It is a configuration that can determine that the set time has passed, and generate flag information for determining the posture of the second working body when the set time has passed .
An agricultural machine characterized by: When the control unit determines that the operation of the operation unit is stopped after the operation of the operation unit is started, the control unit stops the second working body and stores the flag information at the stage of stopping the operation in the storage unit. The agricultural working machine according to claim 1 , characterized in that it is configured to be stored . a first working body;
a second working body capable of changing its posture to each of a deployed posture in which it is possible to work while positioned on the side of the first working body, and a retracted posture in which it moves to the top of the first working body;
a control unit capable of controlling a driving device for changing the posture of the second working body;
an operation unit capable of transmitting a command signal to the control unit by being operated by an operator;
The control unit includes a storage unit that stores flag information that is information indicating the deployed posture or the retracted posture of the second working body,
Upon receiving a command signal from an operator operating the operation unit to change the posture of the second working body, the control section causes the second working body to start the deployment operation and stores the command signal in the storage section. determining whether or not the flag information is OFF, and if it is determined that the flag information is OFF, it is determined that the operation time of the operated operation unit has exceeded a preset set time. and generating flag information as a deployment flag for determining the posture of the second working body when it is determined that the operation time of the operated operation unit has exceeded a preset time. and when the operation of the operation unit is stopped after the operation time exceeds a set time , the operation of the second working body is stopped, and the flag information at the stage when the operation of the second working body is stopped is stored in the storage unit. is a configuration that
An agricultural machine characterized by:

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