JP7417266B2 - agricultural machinery - Google Patents

Description

The present invention relates to an agricultural machine mounted on a tractor. In particular, the present invention relates to control for making it possible to expand or reduce the working width in the width direction of the traveling direction.

Control in the operation of an agricultural machine that can change the body width or working width between the deployed state and the retracted state is disclosed, for example, in Patent Document 1. This agricultural machine has an automatic mode and a manual mode, and a plurality of operating parts of the agricultural machine are operated by operating a remote control unit. Further, Patent Document 1 discloses that in the manual mode, the operating parts of each part operate only when the remote control operation unit is pressed.

Japanese Patent Application Publication No. 2006-166793

When the agricultural machine described in Patent Document 1 operates the operating parts of each part in manual mode, if the operator accidentally operates a button on another operating part, depending on the posture of the agricultural machine, the operating parts may Inconveniences may occur when moving. Specifically, when the actuating part of a certain part is operated, it may interfere with other parts and damage the aircraft. In order to determine the posture of agricultural machinery, it is possible to equip the operating parts with some kind of sensor, determine the posture based on the signal from the sensor, and control the operation accordingly. It is easy to assume that the increase in the cost will lead to an increase in the cost. This cannot be said to be convenient for the purchaser.

Therefore, the present invention has been made with attention to the above-mentioned problems, and an object of the present invention is to provide an agricultural working machine that can determine the attitude state of the agricultural working machine with a simple configuration.

In order to achieve the above object, one aspect of the present invention includes a first work body, a deployed position located on the side of the first work body and capable of working, and a storage position that is moved to the top of the first work body. A second work body whose posture can be changed in each of the postures, and a second work body that is provided on the second work body and whose posture can be changed between a deployed state to the side of the second work body and a stored state located above the second work body. A control capable of controlling a third work body provided in the second work body, a second work body drive device for changing the posture of the second work body, and a third work body drive device for changing the posture of the third work body. and an operation section capable of transmitting a command signal when operated by a worker to the control section , the control section transmitting information indicating the posture state of the second work body. A storage unit that stores flag information and third work body flag information that is information indicating the posture state of the third work body, and the control unit changes the third work body from the stored state to the deployed state from the operation unit. When the control unit receives a command signal to set the second work body flag information stored in the storage unit to the deployed state or the stored state, the control unit determines that the second work body flag information is the stored state. In this case, the control unit stores the current third work body flag information in the storage unit without operating the third work body drive device, and when the control unit determines that the second work body flag information is in the deployed state, the control unit sets the third work body flag information to the deployed state and operates the third work body drive device, and when the operation of the third work body drive device stops, stores the third work body flag information in the deployed state in the storage unit. , the gist is that it is an agricultural machine.

In order to achieve the above object, other aspects of the present invention include a first working body, a deployed position located on the side of the first working body and capable of working, and a position that is moved to the top of the first working body. A second work body whose posture can be changed to each of the storage positions, and a second work body that is provided on the second work body and whose posture can be changed between a deployed state to the side of the second work body and a stored state located above the second work body. A third work body provided in a manner capable of controlling a second work body drive device for changing the posture of the second work body and a third work body drive device for changing the posture of the third work body. The control unit includes a control unit and an operation unit capable of transmitting a command signal when operated by a worker to the control unit. body flag information and a storage unit that stores third work body flag information that is information indicating the posture state of the third work body, and the control unit stores the third work body from the unfolded state from the operation unit. When receiving a command signal to set the state, the control unit operates the third work body drive device, and when the operation of the third work body drive device stops, the control unit stores the third work body flag information in the storage state in the storage unit. The gist is that it is an agricultural machine.

According to the present invention, it is possible to provide an agricultural machine that can determine the posture state of the agricultural machine with a simple configuration.

It is a front view seen from the rear side of the advancing direction of the agricultural machine showing an embodiment, and shows the state where the 2nd work body and the 3rd work body are expanded. FIG. 2 is a plan view of the agricultural machine according to the embodiment, in which the second working body and the third working body are shown in an expanded state. FIG. 2 is a side view of the agricultural working machine according to the embodiment as seen from the left in the traveling direction, with the second working body and the third working body shown in an expanded state. FIG. 3 is a front view of the agricultural machine according to the embodiment as seen from the rear side in the direction of movement, with the second working body and the third working body shown in a retracted state. FIG. 3 is a side view of the agricultural working machine according to the embodiment as seen from the left in the traveling direction, with the second working body and the third working body shown in a retracted state. FIG. 2 is an explanatory diagram showing an operation unit of the agricultural machine according to the embodiment. FIG. 2 is an explanatory diagram showing the second drive device of the agricultural machine according to the embodiment, and shows the state when the ground leveling body is in a deployed state. FIG. 3 is an explanatory diagram showing the second drive device of the agricultural machine according to the embodiment, and shows the state when the ground leveling body is stored. FIG. 3 is a side view illustrating a third drive device and a first rear ground leveling body of the agricultural machine according to the embodiment, and shows a state in which the first rear leveling body is in a fixed state. It is a side view explaining the 3rd drive device and the 1st rear ground leveling body of the agricultural working machine which shows an embodiment, and shows the state when the 1st rear leveling body is in a fixed release state. FIG. 2 is an explanatory diagram showing the meshing of the first gear and the second gear of the agricultural working machine according to the embodiment, and shows a state in which the tooth surfaces are pressed. FIG. 2 is an explanatory diagram showing the meshing of the first gear and the second gear of the agricultural working machine according to the embodiment, and shows a state in which tooth surfaces are not pressed. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an agricultural machine showing an embodiment. FIG. 6 is a control flow diagram when the second work body of the agricultural machine according to the embodiment is placed in a deployed posture. FIG. 6 is a control flow diagram when the second work body of the agricultural machine according to the embodiment is placed in a retracted position. FIG. 6 is a control flow diagram when the third work body of the agricultural machine according to the embodiment is placed in a deployed posture. FIG. 6 is a control flow diagram when the third work body of the agricultural machine according to the embodiment is placed in a retracted position. FIG. 3 is a control flow diagram when the first rear leveling body of the agricultural machine according to the embodiment is brought into an unfixed state. FIG. 3 is a control flow diagram when the first rear leveling body of the agricultural machine according to 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 will be referred to as the left side with respect to the traveling direction, the right side will be referred to as the right side with respect to the traveling direction, the back side will be referred to as the front side in the traveling direction, and the near side will be referred to as the rear side in the traveling direction. In the description of the drawings, the same or similar parts may be designated by the same or similar symbols, and the description thereof may be omitted. In addition, the drawings used for the explanation are schematic, and the relationship between the dimensions of each part, etc. may differ from the actual drawings. Further, the technical idea of the present invention can be modified in various ways within the technical scope defined by the claims.

The outline of the agricultural machine 1 will be explained based on FIGS. 1 to 13. The agricultural machine 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 plowing work.

The agricultural 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 work body 11L and the second work body 11R are rotated about the fulcrum portions 25 provided at both ends of the frame 2 provided in the first work body 11, so that the second work body 11L and the second work body 11R can be set to the deployed posture and the retracted posture, respectively. 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 in the left and right directions with respect to the traveling direction. The storage posture is a state in which the second work body 11L and the second work body 11R are rotated by the fulcrum portion 25 and folded above the first work body 11, thereby shortening the work width and body width.

The first work body 11 includes a frame 2 having a mounting part 20, and by connecting the mounting part 20 and a three-point link mechanism, the agricultural machine 1 can be moved up and down. Furthermore, the agricultural machine 1 rotates the first soil crushing section 3 located below the frame 2 by acquiring power output from the tractor side. The first soil crushing section 3 has a plurality of pawls 32 on a rotor shaft 31 that rotates about 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 expanded state, the second crushing part 3L and the second crushing part 3R provided in the second working body 11L and the second working body 11R, respectively, are also The power output from the tractor is transmitted to drive the rotation.

Above the first crushing part 3, second crushing part 3L, and second crushing part 3R in the unfolded state, there is a first cover body 4, a second cover body 4L, and a second cover body 4R that cover the upper part of each crushing part. is installed to prevent soil from scattering to the surrounding area during crushing. A first earth leveling body 5, a second earth leveling body 5L, and a second earth leveling body are provided at the rear end portions of the first cover body 4, the second cover body 4L, and the second cover body 4R so as to be rotatable up and down. 5R is provided, and by touching the soil while moving up and down, the first crushing section 3, second crushing section 3L, and second crushing section 3R level and plow the crushed soil. do the work.

Furthermore, the first earth leveling body 5, the second earth leveling body 5L, and the second earth leveling body 5R are arranged at the rear end portions of the first cover body 4, the second cover body 4L, and the second cover body 4R, respectively. The first front ground leveling body 51, the second front leveling body 51L, and the second front leveling body 51R; It is composed of a rear ground leveling body 56, a second rear leveling body 56L, and a second rear leveling body 56R. These first front ground leveling body 51, second front leveling body 51L, and second front leveling body 51R, first rear leveling body 56, second rear leveling body 56L, and second rear leveling body 56R cooperate with each other. Soil and mud after crushing can be leveled.

A third working body 7L and a third working body 7R are disposed on each of the second rear ground leveling body 56L and the second rear leveling body 56R in the unfolded state. The third working bodies 7L and 7R are capable of expanding the ground leveling widths of the second rear leveling body 56L and the second rear leveling body 56R. By increasing the leveling width, it is possible to level the crushed soil more uniformly. The third working bodies 7L and 7R can be moved up and down by rotation fulcrums 71 provided at the respective ends of the second rear earth leveling body 56L and the second rear earth leveling body 56R, and the earth leveling body is in a deployed state and It is possible to change the posture between the stored state and the stored state.

A drive device 8 is provided in each of the rotatable second work body 11L, first work body 11R, first rear ground leveling body 56, third work body 7L, and third work body 7R, and these drive devices 8 rotational drive is possible. The drive device 8 can be remotely controlled via the control section B by operating the operation section A by an operator. In the embodiment, the operation section A and the control section B will be described as being operated wirelessly, but the communication method is not limited and may be wired.

The detailed configuration of the agricultural machine 1 will be explained based on FIGS. 1 to 13. The frame 2 is a part forming the skeleton of the first working body 11 of the agricultural working machine 1, and includes a mounting part 20, an input case 21, a pipe frame 22, a transmission case 23, and a support frame 24.

The mounting part 20 is provided at the front center part of the first work body 11, which is the front center part of the agricultural working machine 1, and is composed of an upper top link pin 201 and a pair of lower link pins 202 located below the top link pin 201 on the left and right sides. ing. By connecting these top link pins 201 and lower link pins 202 to a three-point link mechanism or the like (not shown) on the tractor side, the agricultural machine 1 is attached to the tractor so that it can be raised and lowered. An input case 21 is provided at the center of the mounting portion 20, and an input shaft 211 is provided facing forward. The input shaft 211 is connected to the PTO shaft of the tractor via a universal joint (not shown) or the like, and acquires rotational power output from the tractor. A top mast 212 is provided on the upper part of the input case 21 to protrude forward and upward, and the top link pin 201 is provided at the upper end of the top mast 212 . A lower plate 213 is arranged downward from the side of the input case 21, and the lower link pin 202 is attached to the lower plate 213.

The input case 21 is provided with a pipe frame 22 that is connected to the input case 21 at one end and protrudes to the left and right sides, respectively. The pipe frames 22 arranged on the left and right sides are made of round pipes, and are arranged coaxially. At the other end of either the left or right side of the pipe frame 22, there is a vertically long transmission case 23 extending downward, and a transmission case 23 extending downward from the other end of the pipe frame 22 on the other side. A support frame 24 that is long in the vertical direction is located. A first crushed earth section 3 is provided below 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 shaft body that is installed under the transmission case 23 and the support frame 24 and is rotatable. A large number of pawls 32 are attached to the rotor shaft 31 radially at regular intervals in the circumferential direction and the axial direction. The rotor shaft 31 and the claws 32 are integrated to constitute the soil crushing section 3. The earth crushing unit 3 acquires the rotational power output from the tractor through the input shaft 211, and transmits it to the rotor shaft 31 via the input case 21 and the transmission case 23, thereby driving the rotational power. The soil is crushed by this rotational drive.

The first soil crushing section 3 receives power input from the input shaft 211 and is driven to rotate. The power input from the input shaft 211 is changed in speed by a gear installed in the input case 211, and is transmitted inside the transmission case 23 by an output shaft (not shown) passing through a pipe frame 22 protruding from one left and right side. is transmitted to. By arranging transmission members (not shown) such as a chain and a sprocket in the transmission case 23, the power of the tractor is transmitted to the first earth crushing section 3.

A first cover body 4 is provided on the upper part of the first soil crushing section 3 so as to be along the rotational outer circumference of the claw 32 and spaced apart therefrom. 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 part of the soil crushing section 3 with the first cover body 4 in this manner, the tilled soil scattered from the soil crushing section 3 side is prevented from scattering upward.

Here, the second working bodies 11L and 11R that extend the body width of the agricultural working machine 1 will be explained. On both left and right end sides of the first cover body 4 and first crushing part 3 of the first work body 11, second work bodies 11L and 11R are provided. A similar member is provided. The second work body 11L, which is located on the left side in the direction of travel, has a second cover body 4L and a second crushing section 3L, and the second work body 11R, which is located on the right side in the direction of travel, has a second cover body 4L and a second crushing section 3L. A cover body 4R and a second crushed soil section 3R are respectively arranged. The left side second work body 11L and the right side second work body 11R have a mutually symmetrical structure.

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

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

Support frames 41L and 41R are provided above the second cover bodies 4L and 4R, respectively, and on the first work body 11 side. The fulcrum frames 41L and 41R are members that protrude toward the first work body 11 and are connected to the fulcrum portion 25. The fulcrum frames 41L, 41R are integrally formed with the second crushing parts 3L, 3R, the second cover bodies 4L, 4R, and the side covers 42L, 42R, and are rotated upwardly around the fulcrum part 25. By moving, the second working bodies 11L and 11R can be switched between a working state and a stored state. The first work body 11 further includes a first earth leveling body 5. Similarly, the second working body 11L includes a second earth leveling body 5L, and the second working body 11R includes a second earth 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 backward and downward. Similarly, second earth leveling bodies 5L, 5R are provided so as to hang backward and downward from the rear end portions of the first cover bodies 4L, 4R of the left and right second working bodies 11L, 11R. The second ground leveling bodies 5L, 5R are attached to the second cover bodies 4L, 4R, respectively, so when the agricultural machine 1 changes to the working state and the storage state, the first cover bodies 4L, 4R on the extension side and the extension side It rotates around the fulcrum part 25 together with the side crushing parts 3L and 3R.

The first earth leveling body 5 includes a first front leveling body 51 and a first rear leveling body 56. The left and right second earth leveling bodies 5L and 5R similarly include second front leveling bodies 51L, 51R and second rear leveling bodies 56L, 56R. The first front leveling body 51 has a plate 511 whose left and right width is set to be approximately the same as that of the first cover body 4, and is vertically movable by a plurality of hinges 52 arranged at the front end or the upper end. It is. The rotational fulcrum axis of the hinge 52 faces 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 so as to move away from or approach the rotation diameter of the claw 32. Like the first front ground leveling body 51, the second front leveling bodies 51L, 51R also have plates 511L, 511R whose left and right widths are set to approximately the same extent as the second cover bodies 4L, 4R, and the front end or It is rotatable up and down by a plurality of hinges 52L and 52R arranged at the upper end.

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 soil crushing section 3 and the second soil crushing section 3L, 3R, so that the soil is crushed in the respective crushing sections. Prevent soil from scattering backwards. Also, during the soil crushing work, the first front leveling body 51 and the second front leveling bodies 51L, 51R are rotated up and down to make contact with the ground, so that the first front leveling body 51 and the second front leveling body 51L, 51R can be rotated up and down to make contact with the ground. level the soil.

A first rear ground leveling body 56 is attached to the rear end portion of the first front leveling body 51 so as to be vertically movable. Similarly, second rear ground leveling bodies 56L, 56R are attached to the rear end portions of the second front leveling bodies 51L, 51R so as to be vertically movable. These first rear ground leveling body 56 and second front leveling body 51L, 51R are long members in the width direction with respect to the traveling direction, and the rotation fulcrums 562, 562L, 562R are the first front leveling body 51 and the second front leveling body 51L. , 51R, so that it can be freely rotated in the vertical direction. During plowing work, the first rear land leveling body 56, which is in a substantially horizontal state, contacts and presses the crushed soil surface after passing the first front leveling body 51, thereby causing the first front leveling body 51 and the second front leveling body 51 to The crushed soil surface that could not be sufficiently leveled and leveled with the ground leveling bodies 51L and 51R is leveled with even higher precision, and the leveled surface is finished evenly.

As shown in FIGS. 1 and 2, the second rear leveling body 56L and the second rear leveling body 56R each have a rotatable shaft on the outer side in the width direction with respect to the traveling direction, which is rotatable by rotational fulcrum parts 71L and 71R. A third working body 7L and a third working body 7R are provided. The rotation fulcrum parts 71L and 71R have an axis facing the traveling direction at the outer end in the width direction with respect to the traveling direction of the second rear leveling body 56L and the second rear leveling body 56R. The third working body 7L and the third working body 7R are rotatable in the left-right direction on the sides of the second rear leveling body 56L and the second rear 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 reduce the ground leveling widths of the second rear leveling body 56L and the second rear leveling body 56R by rotating. The posture can be changed by the third work bodies 7L and 7R into a deployed state of the ground leveling body, which is a state in which the ground leveling width is expanded, or a state where the ground leveling body is stored, which is a state where the ground leveling width is reduced.

The third working body 7L and the third working body 7R shown by solid lines in FIGS. 1 and 2 are in a state where the ground leveling body is deployed. The ground leveling body deployed state is a state in which the third working bodies 7L, 7R are located on the sides in the width direction with respect to the advancing direction of the second rear leveling bodies 56L, 56R. In the developed state of the ground leveling body, the leveling width of the second rear leveling body 56L and the second rear leveling body 56R is further expanded in the left-right direction, and it is possible to level the ground more widely and uniformly after crushing.

The third working body 7L and the third working body 7R shown by two-dot chain lines in FIGS. 1 and 2 are in a stored state of the earth leveling body. The stored state of the earth leveling body means that the third working body 7L and the third working body 7R rotate about the rotation fulcrum part 71 and are located above the second rear leveling body 56L and the second rear leveling body 56R. Therefore, the leveling width is shortened. By putting the third working bodies 7L, 7R in the ground leveling body storage state, it is possible to prevent them from protruding to the side and avoid collisions with other objects when the third working bodies 7L, 7R are not used for work.

The agricultural machine 1 includes a drive device 8 for changing the posture of the second working bodies 11L, 11R and the third working bodies 7L, 7R, and for vertically moving the first rear leveling body 56 and the second rear leveling body 56L, 56R. has been established. The drive device 8 receives and processes a signal serving as command information that is transmitted in response to the operation of the operation section A disposed close to the worker, by the control section B provided in the agricultural working machine 1, and then receives the signal. drive and control each actuator provided for the purpose. With this control, the second working bodies 11L, 11R, the third working body, the first rear ground leveling body 56, and the second rear leveling body 56L, 56R can be operated.

The drive device 8 includes a first drive device 81, a second drive device 84, and a third drive device 87. Each movable part provided in the agricultural machine 1 is driven. The first drive device 81 rotates the second work bodies 11L and 11R to change their postures between the deployed posture and the stored posture. The second drive device 84 is a device that drives the third work bodies 7L and 7R to change their postures to the deployed state of the ground leveling body or the stored state of the ground leveling body. The third drive device 87 is a device that drives the first rear leveling body 56 and the second rear leveling bodies 56L, 56R in order to vertically rotate them.

The first drive device 81 is comprised of a cylinder that can be expanded and contracted in the longitudinal direction by fluid pressure, and has one end attached to each of the left and right ends of the frame 2 . The other end of the first drive device 81 is attached to the left fulcrum frame 41L, and the expansion and contraction of the first drive device 81 allows the second work body 11L to rotate. Similarly, the other end of the other first drive device 81 is attached to the right fulcrum frame 41R, and the expansion and contraction of the first drive device 81 allows the second work body 11R to rotate. In the case of this embodiment, the shortening operation of the first drive device 81 causes the second work bodies 11L, 11R to be placed in the deployed posture, as shown in FIGS. 1 to 3. Furthermore, by the extension operation of the first drive device 81, the second work bodies 11L, 11R are placed in the retracted position, as shown in FIGS. 4 and 5.

The first drive device 81 is operated by operating a button A1 arranged on the operation section A that corresponds to the operation of the first drive device 81. Each first drive device 81 has a button A1a for a shortening operation and a button A1b for an extending operation, and by operating the corresponding button, the stretching operation can be performed. In addition, by operating the switching button A2, it is possible to switch between an individual mode in which each of the first drive devices 81 extends and contracts independently on the left and right sides, and a simultaneous mode in which the two first drive devices 81 extend and contract at the same time. be.

The second drive device 84 is provided on the second work bodies 11L, 11R, and changes the posture of the third work bodies 7L, 7R to a deployed state of the ground leveling body or a stored state of the ground leveling body. In the case of the embodiment, the second drive 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 drive device 84 includes a motor 841 that is an actuator that can output rotational power, a pinion gear 842 attached to the motor 841, a fan-shaped gear 843 that meshes with the pinion gear 842, and is provided coaxially with 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 and 7R. The pinion gear 842 may also be referred to as a first gear 842, and the gear 843 may also be referred to as a second gear 843.

The motor 841 is capable of forward and reverse rotation, and by applying this rotational power through a pinion gear 842 and a gear 843, the arm 844 can be rotated to swing in the left-right direction.
By connecting the tip of the arm 844 that swings from side to side and the third work bodies 7L, 7R with a wire 845, the third work bodies 7L, 7R can rotate around the rotation fulcrums 71L, 71R. . The third work bodies 7L and 7R, which are extended earth leveling bodies, can change their postures to a deployed state or a stored state by the operation of the second drive device 84. The third working bodies 7L and 7R shown by solid lines in FIGS. 1 and 2 represent the deployed state of the earth leveling body, and the third working bodies 7L and 7R shown by the two-dot chain line represent the stored state of the earth leveling body. Furthermore, the third work bodies 7L and 7R shown by broken lines in FIGS. 4 and 5 are in a stored state of the earth leveling body.

The second drive device 84 is operated by operating a button A3 arranged on the operation section A that corresponds to the operation of the second drive device 84. The second drive device 84 has a button A3a for bringing the third work bodies 7L and 7R into the ground leveling body deployed state and a button A3b for putting the third working bodies 7L and 7R in the ground leveling body retracted state. It is possible to change the posture of the three working bodies 7L and 7R. Furthermore, by operating the switching button A2, there is an individual mode in which the second drive devices 84 disposed on the second work bodies 11L and 11R disposed on the left and right are individually operated on the left and right, and an individual mode in which the two first drive devices 81 It is possible to switch to a simultaneous mode in which both extend and contract at the same time.

The third drive device 87 is provided on the first cover body 4 and rotates the first rear earth leveling body 56 and the second rear earth leveling bodies 56L, 56R in the vertical direction. The third drive device 87 in the embodiment has the input case 21 located on the first cover body 4 and the top mast 212 attached. When the second work bodies 11L and 11R shown in FIGS. 4 and 5 are in the retracted posture, only the first rear ground leveling body 56 can move up and down. When the second work bodies 11L, 11R shown in FIGS. 1 to 3 are in the unfolded posture, the left and right ends of the second rear ground leveling bodies 56L, 56R are aligned with the left and right ends of the first rear leveling body 56, respectively. By connecting, the rotational movement of the first rear ground leveling body 56 is transmitted to the second rear leveling bodies 56L, 56R, and the second rear leveling bodies 56L, 56R rotate integrally with the first rear leveling body 56. can perform actions.

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

The link mechanism 561 can move up and down in conjunction with the up and down movement of the first rear leveling body 56. Therefore, the engagement 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, and therefore the bent portion 561a is also prevented from moving. As a result, the first rear ground leveling body 56 is fixed so that it cannot be moved up and down. When the engagement member 874 is rotated by the motor 871 and the engagement state of the engagement member 874 with the engagement groove 874a is released, a part of the engagement groove 874a is in an open state. 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 can be moved forward in the longitudinal direction. As a result, the first rear ground leveling body 56 can freely rotate upward from the position where vertical movement is fixed.

The third drive device 84 is operated by operating a button A4 arranged on the operation section A that corresponds to the operation of the third drive device 87. The third drive device 87 has a button A4a for setting the first rear ground leveling body 56 in a fixed state and a button A4b for setting the first rear leveling body 56 in a fixed state, and the button corresponding to each can be operated. It is possible to fix or release the rotation of the first rear ground leveling body 56 by.

With the above-described configuration, the agricultural machine 1 can take the deployed attitude or the retracted attitude by rotating the second working bodies 11L and 11R in the left-right direction with respect to the first working body 11. Further, the third working bodies 7L, 7R can be placed in the deployed state or the stored state of the earth leveling body by rotating in the left and right direction with respect to the second working bodies 11L, 11R. Further, the first rear earth leveling body 56 can be in a fixed state in which it cannot move up and down relative to the first front leveling body 51, or in a fixed release state in which it can move up and down.

When changing the second working bodies 11L, 11R from the deployed position to the retracted position, or from the stored position to the deployed position, it is desirable that the third working bodies 7L, 7R be in the ground leveling body retracted state. As shown in FIG. 4, the second work bodies 11L and 11R in the retracted posture are close to each other. If the second working bodies 11L, 11R and the third working bodies 7L, 7R are operated in this state, they may interfere with each other. In order to prevent these, it is necessary to control them appropriately.

In addition, if the second rear leveling bodies 56L and 56R connected to the first rear leveling body 56 are not in the same vertical movement position when viewed from a direction perpendicular to the direction of travel, they will not be properly connected to each other. There may be no.

In order to operate properly, the control unit B correctly recognizes the positions of the second work bodies 11L, 11R, the third work bodies 7L, 7R, and the first rear ground leveling body 56, and operates only when they are in the appropriate positions. It is necessary to do so. Based on this recognition, the operator transmits command information to operate the drive device from the operation unit by button operation, and based on the command information received by the control unit B, flag information is generated and read in the control unit B. To do something.

The operation flow when changing the second work bodies 11L and 11R from the stored position to the deployed position will be explained based on FIG. 14. Note that the description will refer to the case where only the second work body 11L is changed from the stored position to the deployed position. The simultaneous operation of only the second work body 11R and the simultaneous operation of the second work body 11L and the second work body 11R is the same process as the operation of only the second work body 11L, and will be omitted since it is redundant. When the second work body 11L is placed in the deployed position, flag information F1 indicating whether or not the second work body 11L is deployed is stored or used, which is stored in the storage unit B1 configured in the control unit B. and generate it.

In step S1, the operator operates the expansion button A1a of the operation section A. The operating section A transmits a command signal to deploy the second work body 11L, and the control section receives this command signal. Upon receiving the command signal, the control section executes step S2 and controls the second work body 11L to start the unfolding operation. That is, the first drive device 81 is operated by the control unit, and the second work body 11L starts rotating.

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

In step S4, it is determined whether the operator has been operating the unfolding operation button A1a of the second work body 11L continuously for a preset time or longer. That is, it is determined whether or not the button A1a has been continuously operated in step S1. If the operation time of the button A1a has elapsed beyond the set time, the process moves to the next step S5. If the operator has not operated the deployment button A1a of the second work body 11L for a period longer than a preset time, 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 and generates a deployment flag, which is the flag information F1 of the second work body 11L. After generating the flag information F1, the process then moves to step S6. In step S6, it is determined whether the operation of expanding the second work body 11L is continuing. That is, as in step S4, it is determined again whether or not the button A1a is being continuously operated. If the operation to deploy the second work body 11L is continuing, that is, if the button A1a is being operated continuously, and if the control unit B determines that the command signal is being continuously received, Returning to step S2, the above control steps are sequentially repeated. If the button A1a is not operated continuously, that is, if the button A1a is not operated and the control unit B determines that it has not received the command signal, the process moves to the next step S7.

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

Next, the process moves to step S8, and the deployment flag, which is the flag information F1 of the current second work body 11L, is stored. In this case, in step S5, the expansion flag is turned ON and the generated flag information F1 is stored in the storage section B1, and the control step ends.

According to the above control flow, the control section determines the posture of the second work bodies 11L, 11R of the agricultural working machine 1 according to the time period during which the operation section is operated (operation time) at the stage of transition from the retracted posture to the unfolded posture. Therefore, there is no need to add special members to the work machine side. That is, if the existing operating section A is provided, the posture of the second working body 11L can be determined based on the operating time, so that the agricultural working machine 1 can have a simple configuration. Furthermore, since it can be configured without adding any apparatus or members for posture determination, it can be provided to consumers without increasing the cost.

Each part is configured to operate only when the operator is operating operation part A, so if an abnormality suddenly occurs in the work equipment or the components that make it up, all you have to do is stop operating it. operation stops. Therefore, if an abnormality or the like occurs, the system is configured so that it can be dealt with immediately if the operator stops operating the system. Furthermore, although not shown, if the operator stops operating the operation unit A during the control flow of FIG. The configuration is such that the flag information F1 at that stage is stored in the storage section B1.

The flag information F1 when changing the posture of the second work bodies 11L, 11R to the deployed posture is configured such that the flag information F1 is generated based on the operation time from the start of the operation on the operation section B. Therefore, even if the operating unit is pressed suddenly and momentarily by mistake, the control unit is prevented from switching the flag information F1, and erroneous generation of flag information F1 due to erroneous operation can be prevented in an extremely simple way. .

Further, in the step of determining the operation time of operating the operation unit A, the elapsed operation time of the button A1a, which is the first step, is determined, and flag information F1 is generated. Next is a control step of storing flag information after determining the operation time of the operation part A and stopping the operation of the button A1a. Therefore, it is possible to prevent the flag information F1 from being stored due to an erroneous operation, and it is possible to prevent the control unit from making an erroneous judgment.

When the second work bodies 11L, 11R change from the retracted posture to the unfolded posture, the postures of the second work bodies 11L, 11R are determined based on the flag information F1 for determining the posture. It is possible to prevent malfunctions caused by erroneous operation of the operation parts of the third work bodies 7L and 7R at times.

The control flow when changing the second work bodies 11L and 11R from the deployed posture to the retracted posture will be explained based on FIG. 15. Note that the description will refer to the case where only the second work body 11L is changed from the deployed posture to the stored and deployed posture. The simultaneous operation of only the second work body 11R and the simultaneous operation of the second work body 11L and the second work body 11R is the same process as the operation of only the second work body 11L, and will be omitted since it is redundant. When the second work body 11L is placed in the retracted position, the second work body flag information stored in the storage unit B1 configured in the control unit B indicating whether or not the second work body 11L is deployed is used. A certain flag information F1 and flag information F2, which is third work body flag information indicating whether or not the third work body 7L is developed, are stored or used, and are also generated.

In step S11, the operator operates the storage button A1b of the operation section A. In response to an operation on the operating section A, the operating section A transmits a command signal. After receiving the command signal, the control section B executes step S12 and indicates the state of the third working body 7L, which is an extended ground leveling body, stored in the storage unit B1. It is determined whether the flag information F2 is ON or not. When the extension flag information of the extended earth leveling body is ON, it means that the third work bodies 7L and 7R, which are the extended earth leveling bodies, are in the earth leveling body deployed state. If the extended land leveling body is in the field leveling body unfolded state, flag information F2 is ON, so YES is determined, and if the ground leveling body is in the stored state, flag information F2 is determined not to be ON.

In step S12, the deployment flag of the third work body 7LR, which is an extended land leveling body, stored in the storage unit B1 is not ON, that is, the flag information F2 indicating that the third work body 7LR is in the stored state of the land leveling body is If it is determined that it is to be stored, the next step S13 and step S14 are omitted, and the process moves to step S15, which will be described later, to continue the control flow. In step S12, if the extended land leveling body is in the leveling body deployment state, it is determined that the flag information F2 is ON indicating deployment, and the process moves to the next step S13. In step S13, the control section causes the third work body 7L, which is the extended earth leveling body in the expanded state, to be retracted. In the retracting operation, the second driving device 84 of the driving device 8 is driven to move the third work body 7L to the ground leveling body retracted state. Next, the process moves to step S14, and the deployment 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 work body 7L, which is the extended earth leveling body, is in the stored state of the earth leveling body. After that, the process moves to step S15.

In step S15, the second work body 11L is retracted. That is, the first drive device 81 is operated in order to change the second work body 11L from the deployed position to the retracted position. Then, the process moves to step S16, and the deployment flag of the second work body is turned OFF. In other words, information indicating that the flag information F1, which is development information of the second work body 11L, is stored is generated. After the generation, the process moves to step S17.

In step S17, the control unit B determines whether the operation of storing the second work body is continuing. That is, it is determined whether 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 and the control flow is repeated again. That is, as long as the retraction button A1b for putting the second work body 11L into the retracted position continues to be operated, the first drive device 81 can continue to operate. If the operation is not ongoing, the control unit B does not receive the command signal, so the control unit B determines that the operation unit A is not being operated, and moves to step S18. In step S18, the control unit B stops the operation of the first drive device 81.

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

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

The configuration is such that when the operator stops operating the operation unit A to retract the second work body 11L, the control unit determines that the second work body 11L is in the retracted position. Therefore, there is no need to add special members to the agricultural working machine 1, and the main body of the agricultural working machine 1 can be made simple and inexpensive. When changing the second work body from the unfolded position to the retracted position, each operation of the second work body 11L and the third work body 7L is configured to operate only when the operator is operating the operation part A. There is. Even if an abnormality or the like occurs in the agricultural machine 1, the operation of the movable part can be stopped by the operator immediately stopping operating the operating part A.

The configuration is such that when the operator stops the operation of storing the second work body 11L using the operation section A, the generated flag information F1 and F2 is stored in the storage section B1. The second work body 11L is determined to be in the retracted position except for the state where the second work body 11L is located to the side of the first work body 11 in the fully deployed position. This can prevent the formation of an incomplete deployed posture. At the time of starting the operation of the operating unit A from the deployed position to the retracted position of the second work body 11L, the posture of the third work body 7L is also determined. Therefore, it is possible to prevent the third working body 7L, which is the extended ground leveling body, from storing the second working body while it is in the expanded state, and to prevent damage to the agricultural working machine 1.

As mentioned above, the movement of only the second work body 11L from the unfolded position to the retracted position has been described, but similarly, when only the second work body 11R, which is the work body on the right side, moves, the third work body 7R This operation is accompanied by the operation and generation of flag information F1 and F2. Furthermore, when the second work body 11L and the second work body 11R are moved to the retracted posture at the same time, this is performed with the movement of both the third work body 7L and the third work body 7R and the generation of flag information F1 and F2. .

The control flow when changing the third work bodies 7L and 7R from the earth preparation body storage state to the earth preparation body deployment state will be explained based on FIG. 16. In addition, the description will refer to the case where the third work body 7L, which is the work body on the left side, is changed from the ground leveling body storage state to the ground leveling body deployed state. The operation of only the third work body 11R, which is the work body on the right side, and the simultaneous operation of the third work body 7L and the third work body 7R are the same processes as the operation of only the third work body 7L, which will be explained. Yes, it is omitted because it is redundant. When the third work body 7L is brought into a state where the ground leveling body is deployed, flag information F1 indicating whether or not the second work body 11L stored in the storage unit B1 configured in the control unit B is deployed; , stores or uses flag information F2 indicating whether or not the third work body 7L is deployed, and also generates it.

First, in step S21, the operator performs an operation to unfold the extended ground leveling body, which is the third work body 7L. That is, the operator operates the deployment button A3a of the operation section A that causes the third work body 7L to be in the deployed state. Then, the operating section A issues a command signal to operate the second drive device 84 to drive the extended ground leveling body toward the development side. Control unit B, which has received the command signal, executes step S22.

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

In step S23, the control unit B develops the flag information of the extended land leveling body. That is, the control unit B generates flag information F2 indicating that the third work body 7L is in a state where the ground leveling body is deployed.

Next, the process moves to step S24, where the third working body 7L, which is the extended ground leveling body, starts an unfolding operation in the direction of putting it into the unfolded state, and the process moves to step S25.

In step S25, it is determined whether or not the extension operation time for the extended ground leveling body is within the operating time. In other words, it is determined whether the elapsed operation time from the start of the operation of button A3a of operation section A is within a specified time. It is preferable that the unfolding operation time is 1.0 to 2.8 seconds, and is set to 1.9 seconds in the embodiment. If it is not within the unfolding operation time, that is, if the elapsed time from the start of the operation of the button A3a is longer than the set unfolding operation time, the process moves to step S26. On the other hand, if it is within the unfolding operation time, that is, if the elapsed time from the start of the operation of the button A3a is less than the set unfolding operation time, the process returns to step S24 and the control is repeated.

In step S26, the control unit B stops the expansion operation of the extended ground leveling body. In other words, the operation of the motor 841 of the second drive 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 in a pressed state with the tooth surface of the second gear, the gear 843, at the pressing point P, as shown in FIG. A gap called backlash 85 occurs on the opposite side of the rotational direction, which is symmetrical to the tooth surface of the gear 843 and the tooth surface of the pinion gear 842 that presses.

After that, the process moves to step S27, and it is determined whether 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. The waiting time is preferably 0.1 to 0.2 seconds, and in the embodiment, 0.15 seconds is used. If the control unit B determines that the waiting time has elapsed, the process moves to step S28. If the control unit B determines that the waiting time has not elapsed, the process returns to step S26 and the control is repeated again.

In step S28, the control unit B performs a reverse operation in which the extended ground leveling body is placed in a retracted state. That is, the motor 841 of the second drive device 84 is rotated in the opposite direction to the direction in which it was rotated in step S24. Thereafter, in step S29, it is determined whether or not it is within the reversal operation time of the extended ground leveling body. It is preferable that the reversal operation time is very short, 0.005 to 0.015 seconds, and in the embodiment, 0.01 seconds is used. In the reverse operation, the tooth surface of the first gear 842 operates within a range that does not overcome the tooth surface of the second gear 843, and the second gear 843 does not rotate. Furthermore, by setting the waiting time, a sudden increase in electromotive force during reverse operation is prevented. If the control unit B determines that the reverse deployment time is not within the set reverse deployment time, that is, the reverse deployment time has elapsed, the process moves to step S30. If the control unit B determines that the reverse rotation operation time has not elapsed, the process returns to step S28 again and the control is repeated.

When the process moves 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 drive device 84 that drives the third work body 7L is stopped. At the end of step S30, as shown in FIG. 12, the tooth flank of the first gear, the pinion gear 842, is released from the pressed state with the tooth flank of the second gear, the gear 843, and A gap 85a is generated. A gap 85b having a distance smaller than the backlash 85 is generated on the side of the tooth surface of the gear 843 and the tooth surface of the pinion gear 842 that is symmetrical with respect to the rotational direction.

When step S30 is completed, the process moves to step S31, and the current flag information, that is, flag information F2 of the third work body 7L and flag information F1 of the second work body 11L, is stored in the storage unit B1, and the control flow ends. do. In the example of the explanation, if the flag information F1 is determined to be deployed in step S23, the flag information F1 indicating the deployed posture of the second work body 11L, and the flag information indicating the deployed posture of the third work body 11L generated in step S23. Memorize F2. Further, if it is determined in step S23 that the flag information F1 is not expanded, the process moves to step S30 with the second work body 11L and the third work body 7R stored, so that the flag indicating the retracted posture of the second work body 11L is flagged. Information F1 and flag information F2 indicating the storage posture of the third work body 11L are stored in the storage unit B1, respectively.

The control flow when changing the third work bodies 7L and 7R from the ground leveling body deployed state to the ground leveling body retracted state will be explained based on FIG. 17. Note that, in the same manner as described above, the case where the third work body 7L, which is the work body on the left side, is changed from the ground leveling body deployed state to the ground leveling body stored state will be described. The operation of only the third work body 11R, which is the work body on the right side, and the simultaneous operation of the third work body 7L and the third work body 7R will be omitted. When the third work body 7L is brought into a state where the ground leveling body is deployed, flag information F1 indicating whether or not the second work body 11L stored in the storage unit B1 configured in the control unit B is deployed; , stores or uses flag information F2 indicating whether or not the third work body 7L is deployed, and also generates it.

First, in step S41, the operator performs an operation to retract the extended ground leveling body, which is the third work body 7L. That is, the operator operates the storage button A3b of the operation section A that causes the third work body 7L to be in the storage state. Then, the operation unit A issues a command signal to operate the second drive device 84 so as to drive the extended ground leveling body toward the storage side. Control unit B, which has received the command signal, executes step S42.

In step S42, the control unit B causes the extended ground leveling body 7L to perform a retracting operation. That is, in order to bring the third work body 7L into the ground leveling body storage state, the motor 841 of the second drive device 84 is rotated in the direction in which the third work body 7L is stored. Next, the process moves to step S43, and the control unit B determines whether or not the extended earth leveling body retracting operation time has elapsed. That is, in step S41, it is determined whether the operation time that has elapsed since the operator operated the storage button A3b is within the range of a predetermined extended earth leveling body storage operation time. If the operation time is within the extended earth leveling body storage operation time, the process returns to step S42 again and the control is repeated. When the control unit B determines that the operation time has exceeded the extended earth leveling body storage operation time, the process moves to the next step S44.

In step S44, the control unit B stops the storage operation of the extended ground leveling body. That is, the motor 841 of the second drive device 84 is stopped from rotating in the direction in which the third work body 7L is retracted. At this point, the tooth surface on the rotational direction side of the pinion gear 842, which is the first gear, is in a pressed state with the tooth surface of the second gear, the gear 843, at the pressing point P, as shown in FIG. A gap called backlash 85 is generated on the side of the tooth surface of the pinion gear 842 that is symmetrical with the tooth surface of the gear 843 and is opposite to the rotational direction.

Next, the process moves to step S45, and it is determined whether 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. The waiting time is preferably 0.1 to 0.2 seconds, and in the embodiment, 0.15 seconds is used. If the control unit B determines that the waiting time has not elapsed, the process returns to step S44 and the control is repeated again. If the control unit B determines that the waiting time has elapsed, the process moves to step S46.

In step S46, the control unit B operates the extended ground leveling body 7L in the reverse direction, which is the direction in which the extended ground leveling body 7L is brought into the unfolded state. That is, the motor 841 of the second drive device 84 is rotated in the opposite direction to the direction in which it was rotated in step S42.

Thereafter, the process moves to step S47, and it is determined whether or not it is within the reversal operation time of the extended earth leveling body 7L. It is preferable that the reversal operation time is very short, 0.005 to 0.015 seconds, and in the embodiment, 0.01 seconds is used. Therefore, in the reverse operation, the tooth surface of the first gear 842 operates within a range that does not overcome the tooth surface of the second gear 843, and the second gear 843 does not rotate. Furthermore, by setting the waiting time, a sudden increase in electromotive force during reverse operation is prevented.

If the control unit B determines that the reversal operation time is not within the set reversal development operation time, that is, that the reversal operation time has passed the set time, the process moves to step S48. On the other hand, if the control unit B determines that the reverse rotation operation time has not elapsed, the process returns to step S46 again and the control is repeated.

When proceeding 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 drive device 84 that drives the third work body 7L is stopped. At the end of step S48, as shown in FIG. 12, the tooth flank of the first gear, the pinion gear 842, is released from the pressed state with the tooth flank of the second gear, the gear 843, and A gap 85a is generated. A gap 85b having a distance smaller than the backlash 85 is generated on the side of the tooth surface of the gear 843 and the tooth surface of the pinion gear 842 that is symmetrical with respect to the rotational direction.

When step S48 ends, the process moves 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 work body, which is the extended earth leveling body, generates the flag information F2, which is information indicating the stored state of the earth leveling body, as stored.

When step S49 is completed, the process moves to step S50, and the current flag information, that is, flag information F2 of the third work body 7L and flag information F1 of the second work body 11L, is stored in the storage unit B1, and the control flow is ended. .

When changing the third working bodies 7L, 7R from the deployed state to the retracted state, the motor 841 moves the third working bodies 7L, 7R from the deployed state to the retracted state, and then reverses the operation. After doing so, flag information F2 indicating the posture of the third work body 11L is generated. After the generation, the flag information F2 is stored in the storage section B1. Further, unlike the case where the third work bodies 7L and 7R are changed from the earth preparation body storage state to the earth preparation body deployment state, the storage operation is performed without determining the state of the flag information F1 and F2 accompanying the start of control.

As mentioned above, the movement of only the third work body 7L to the deployed or retracted position has been mentioned, but if only the second work body 11R, which is the work body on the right side, moves in the same manner, the second work body 11R This is performed together with the generation of flag information F1 indicating the posture and flag information F2 indicating the posture of the third work body 7R. Further, when the third working body 7L and the third working body 7R are simultaneously operated to the ground leveling body storage state or the ground leveling body deployed state, at least one of the second working body 11L, 11R and the third working body 7L, 7R is included. This is performed with the generation of operation and flag information F1 and F2.

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

In the case where the third working bodies 7L, 7R are retracted, the configuration is such that they can be stored regardless of the posture state of the second working bodies 11L, 11L. As explained above, the unfolded state of the third working bodies 7L, 7R is a form that can only occur when the second working bodies 11L, 11R are deployed. When the second working bodies 11L, 11R are in the unfolded position, the third working bodies 7L, 7R in the stored state of the ground leveling body are located at the left and right ends of the agricultural working machine 1, and are pivoted around the rotational fulcrum parts 71L, 71R. Even if it rotates, there will be no interference with other parts that may cause self-destruction. Therefore, when storing the third working bodies 7L and 7R, the flow of determining the posture of the second working bodies can be omitted and the operation can be performed quickly. In other words, the control flow related to changing the posture of the third work bodies 7L, 7R can be simplified.

After deploying and retracting the third work bodies 7L and 7R, the drive device 8 is automatically stopped and flag information indicating the current posture is stored, so there is no need to add any special components to the agricultural machine 1. . That is, the main body of the agricultural working machine can be made simple and inexpensive.

When changing the posture of the third work body, the third work body is configured to operate only when the operator is operating the operation section, so if an abnormality occurs, simply stop the operation. operation stops. Even if an abnormality occurs, the system is designed to allow workers to respond immediately.

Although not shown, when the operator stops operating the operation part A during the control to make the third work bodies 7L and 7R shown in FIG. The configuration is such that the flag state at this point in time is stored. That is, when the operation of the operation part A is stopped, the control part B determines that the command signal has stopped, and forcibly moves to step S30, executes step S31, and ends the control. This means that if the third work bodies 7L, 7R are deployed even slightly, the operator will recognize that the ground leveling body is in the deployed state, and the operator will intend to change the posture of the third work bodies 7L, 7R. It can be recognized as Therefore, it is possible to suppress the posture change of the second working bodies 11L, 11R in the middle of the third working bodies 7L, 7R changing their postures.

On the other hand, if the operation of the operation unit is stopped during the storage operation of the third work bodies 7L, 7R from the earth preparation body deployed state to the earth preparation body storage state, the flag information F2 of the third work bodies 7L, 7R is generated to indicate the stored state. The drive device 8 is stopped without any trouble. In other words, when the operator stops operating the operating section A during the control for bringing the third work bodies 7L and 7R into the ground leveling body storage state shown in FIG. 17, the control flow is stopped at that point. In other words, although the operation of the drive device 8 is stopped by stopping the control flow, the flag information F2 at this point is not generated and the flag information F2 is not stored in the storage unit B1.

In order to make the control unit B recognize that the ground leveling body is stored, the third work bodies 7L and 7R will not be recognized as being stored unless a procedure according to a predetermined control flow is followed. Therefore, the operator can be prompted to reliably store the third work bodies 7L, 7R. Thereafter, even if the second work bodies 11L and 11R are operated, the extended land 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 stored in the flag information F2. There is no risk that each part of the agricultural machine 1 will operate in an incorrect posture and be damaged.

After changing the posture of the third working bodies 7L and 7R, which are extended ground leveling bodies, the first gear 842 returns to the position where no pressure is applied to mesh with the second gear 843, that is, the backlash is smaller than the backlash 85, which is the play gap between the tooth surfaces. The series of movements is completed by rotating in the opposite direction by the distance. As a result, after changing the posture, no pressure is generated between the paired tooth surfaces, which prevents the tooth surfaces from sticking to each other due to rust or the like due to long-term neglect.

After changing the posture, no meshing pressure is applied to the tooth surfaces, so 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 with a load applied to it for a long period of time when it is not in use, the motor 841 can be used for a long period of time without being damaged.

Since sticking of the tooth surfaces to each other and damage to the motor 841 can be suppressed, maintenance work by the operator can be reduced, and costs associated with parts replacement etc. can also be reduced, making it economical.

A control flow for changing the first rear ground leveling body 56 from a fixed state in which rotation is restricted to a fixed release state in which rotation is possible will be explained based on FIG. 18. When changing the first rear ground leveling body 56 from the fixed state to the fixed release 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 fixed release state. The flag information F3, which is the ground leveling body flag information, is stored or used as well as generated. Note that the fixed state of the first rear ground leveling body 56 may also be referred to as a mulching posture or a mulching state. Further, the state in which the first rear leveling body 56 is released from fixation may be referred to as the plowing posture or the plowing state.

First, in step S61, the operator performs an operation to bring the first rear leveling body 56 into the plowing state. That is, the operator operates the button A4b of the operation section A to release the first rear work body 56 from the fixed state. Then, the operating section A issues a command signal to operate the third drive device 87 to drive the first rear work body 56 to the unlocked state. Control unit B, which has received the command signal, executes step S62.

In step S62, control is performed to move to the pinching posture. That is, the control unit B rotates the motor 871 of the third drive device 87 to rotate the engagement member 874 in the direction of disengaging the engagement rod 875 from the engagement groove 874a of the engagement member 874. let

Next, the process moves to step S63, and the control unit B determines whether or not the purge operation time has elapsed. That is, the control unit B determines whether the elapsed operation time from the start of the operation of the button A4b of the operation unit A is within the specified time. The purge 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 purge operation time, that is, if the elapsed time from the start of the operation of button A3b is less than the set purge operation time, the process returns to step S62 and the control is repeated. If it is not within the purge operation time, that is, if the elapsed time from the start of the operation of button A3b has exceeded the set purge operation time, the process moves to step S64.

In step S64, the puddling operation is stopped. That is, the control unit 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 second gear, the gear 843, at a pressing point P, as shown in FIG. A gap called backlash 88 is generated on the side of the tooth surface of the pinion gear 872 that is symmetrical with the tooth surface of the gear 873 and is opposite to the rotational direction.

After that, the process moves to step S65, and it is determined whether 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. The waiting time is preferably 0.1 to 0.2 seconds, and in the embodiment, 0.15 seconds is used. If the control unit B determines that the waiting time has not elapsed, the process returns to step S64 and the control is repeated again. If the control unit B determines that the waiting time has elapsed, the process moves to step S66.

In step S66, the control unit B causes the first rear ground leveling body 56 to perform a scouring operation in a direction to fix the earth leveling body 56. That is, the motor 871 of the third drive device 87 is rotated in the opposite direction to the direction in which it was rotated in step S62.

Next, the process moves to step S67, and the control unit B determines whether or not the reverse rotation operation time of the motor 871 has elapsed. It is preferable that the reversal operation time is very short, 0.005 to 0.015 seconds, and in the embodiment, 0.01 seconds is used. In the reverse operation, the tooth surface of the first gear 872 operates within a range that does not overcome the tooth surface of the second gear 873, and the second gear 873 does not rotate. Furthermore, by setting the waiting time, a sudden increase in electromotive force during reverse operation is prevented. If the control unit B determines that the reverse rotation operation time has not elapsed, the process returns to step S66 again and the control is repeated. If the control unit B determines that the reverse deployment time is not within the set reverse deployment time, that is, the reverse deployment time has elapsed, the process moves to step S68. By setting the waiting time, a sudden increase in electromotive force during reverse operation is prevented.

In step S68, the control unit B stops the earth-harvesting operation. That is, the control unit B stops the reverse rotation operation of the motor 871 of the third control device 87. When step S68 is completed, as shown in FIG. 12, the tooth surface of the first gear, the pinion gear 872, is released from the pressed state with the tooth surface of the second gear, the gear 873, and a distance smaller than the backlash 88 is reached. A gap 88a is generated. A gap 88b having a distance smaller than the backlash 85 is generated on the side of the tooth surface of the gear 873 and the tooth surface of the pinion gear 872 that is symmetrical with respect to the rotational direction.

Next, the process moves to step S69, and the control unit B turns on the purge flag. That is, the control unit B generates the flag information F3 of the first rear leveling body 56 as a paging state. Thereafter, the process moves to step S70, flag information F3 indicating the current attitude of the first rear leveling body 56 is stored in the storage unit B1, and the control ends.

A control flow for changing the first rear ground leveling body 56 from a rotationally unfixed state to a fixed state where rotation is restricted will be explained based on FIG. 19. When changing the first rear ground leveling body 56 from the fixed state to the fixed release 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 fixed release state. The flag information F3 is stored or used as well as generated.

In step S81, the worker performs a sloughing operation. In other words, the operator operates the button A4a of the operation section A that causes the first rear work body 56 to be in the fixed state. Then, the operating section A issues a command signal to operate the third drive device 87 to drive the first rear work body 56 into a fixed state. Control unit B, which has received the command signal, executes step S82.

In step S82, the control unit B turns off the paging 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 leveling body 56, as a plowing flag, which is a different flag from the puddling flag.

Next, the process moves to step S83, and the control unit B performs a sloughing operation. That is, the control unit B rotates the motor 871 of the third control device 87 to rotate the engagement member 874 in a direction in which the engagement rod 875 engages with the engagement groove 874a of the engagement member 874.

Next, the process moves to step S84, and the control unit B determines whether or not it is within the sloughing operation time. That is, the control unit B determines whether the elapsed operation time from the start of the operation of the button A4a of the operation unit A is within the specified time. It is preferable that the earth-moving operation time is 1.0 to 2.8 seconds, and is set to 1.9 seconds in the embodiment. If it is within the mulching operation time, that is, if the elapsed time from the start of the operation of button A3a is less than the set mulching operation time, the process returns to step S83 and the control is repeated. If it is not within the raking operation time, that is, if the elapsed time from the start of the operation of the button A3a is longer than the set puddling operation time, the process moves to step S85.

In step S85, the mulching operation is stopped. That is, the control unit 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 second gear, the gear 843, at a pressing point P, as shown in FIG. A gap called backlash 88 is generated on the side of the tooth surface of the pinion gear 872 that is symmetrical with the tooth surface of the gear 873 and is opposite to the rotational direction.

Thereafter, the process moves to step S86, and it is determined whether 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. The waiting time is preferably 0.1 to 0.2 seconds, and in the embodiment, 0.15 seconds is used. If the control unit B determines that the waiting time has not elapsed, the process returns to step S85 and repeats the control again. If the control unit B determines that the waiting time has elapsed, the process moves to step S87.

In step S87, the control unit B causes the first rear leveling body 56 to perform a purge operation in the direction of releasing the fixed state. That is, the control unit B rotates the motor 871 of the third drive device 87 in the opposite direction to the direction in which it was rotated in step S83.

Next, the process moves to step S88, and the control unit B determines whether or not it is within the reverse rotation operation time of the motor 871. It is preferable that the reversal operation time is very short, 0.005 to 0.015 seconds, and in the embodiment, 0.01 seconds is used. In the reverse rotation, the tooth surface of the first gear 872 operates within a range that does not overcome the tooth surface of the second gear 873, and the second gear 873 does not rotate. Furthermore, by setting the waiting time, a sudden increase in electromotive force during reverse operation is prevented. If the control unit B determines that the reverse rotation operation time has not elapsed, the process returns to step S87 again and the control is repeated. If the control unit B determines that the reverse deployment time is not within the set reverse deployment time, that is, the reverse deployment time has elapsed, the process moves to step S89.

In step S89, the control unit B stops the purge operation. That is, the control unit B stops the reverse rotation operation of the motor 871 of the third control device 87. At the end of step S89, as shown in FIG. 12, the tooth surface of the first gear, the pinion gear 872, is released from the pressed state with the tooth surface of the second gear, the gear 873, and a distance smaller than the backlash 88 is reached. A gap 88a is generated. A gap 88b having a distance smaller than the backlash 85 is generated on the side of the tooth surface of the gear 873 and the tooth surface of the pinion gear 872 that is symmetrical with respect to the rotational direction.

Next, the process moves to step S90, where the control unit B stores flag information F3 indicating the current posture state of the first rear leveling body 56 in the storage unit B1, and the control ends.

According to the control flow related to the operation of the first rear earth leveling body 56 described above, the control unit B can determine the fixed state and the fixed release state, which are the attitude states of the first rear earth 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 leveling body 56 is set in the unfixed state, the flag information F3 is generated after the third drive device 87 actually operates after the operator operates the operation part A. On the other hand, when the first rear ground leveling body 56 is to be set in the fixed state, this is done immediately after the operator operates the operation part A. With this control configuration, all positions of the rotatable engagement member 874 other than the unlocked state shown in FIG. 10 can be recognized as the fixed state.

Since the agricultural machine 1 of the present invention that performs puddling work is mostly operated in the unlocked state, in order to ensure that the work is performed after changing its posture, the control procedure shown in FIG. It is designed to be stepped on. In other words, a procedure is adopted in which the third drive device 87 is operated to bring the first rear ground leveling body 56 into the unfixed state, and then the unfixed flag information F3 is generated and stored. You can expect to improve your sexual performance.

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

Although not shown in the figure, if the operation of the operation part A is stopped during the control to bring the fixing release state shown in FIG. let That is, when the operator stops operating the operation unit A, the control flow is stopped at that point. Although the operation of the third drive device 87 is stopped by stopping the control flow, the flag information at this point is not generated or stored. In order to make the control unit B recognize the posture of the first rear ground leveling body 56 as a pinning release state, which is a paging state, the control unit B will not be recognized as a fixation release state unless a procedure according to a predetermined control flow is followed. . Therefore, the operator can be prompted to perform an operation to reliably bring the posture of the first rear ground leveling body 56 into the unfixed state.

Although not shown, when the operator stops operating the operating section A during the control to achieve the fixed state shown in FIG. 19, the third drive device 87 is stopped at that point, and the flag state at this point is memorized. It is structured as follows. That is, when the operation of the operation part A is stopped, the control part B determines that the command signal has stopped, forcibly moves to step S90, executes step S31, and ends the control. This is because if the operator performs an operation to fix the posture of the first rear ground leveling body 56 even slightly, it will be recognized as being in a fixed state, and the operator will not be able to change the posture of the first rear leveling body 56. It can be recognized as something.

Similar to the second drive device 84, the third drive device 87 is configured such that after the attitude of the first rear leveling body 56 is changed, the first gear 842 returns to a position where no pressure is applied to mesh with the second gear 843, that is, the gap between the tooth surfaces is The series of operations is completed by rotating in the opposite direction by a distance smaller than the backlash 88, which is the play gap. As a result, after changing the posture, no pressure is generated between the paired tooth surfaces, which prevents the tooth surfaces from sticking to each other due to rust or the like due to long-term neglect.

After the attitude of the first rear leveling body 56 is changed, no engagement pressure is applied to the tooth surface, so 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 with a load applied to it for a long period of time when it is not in use, the motor 871 can be used for a long period of time without being damaged.

Since sticking of the tooth surfaces to each other and damage to the motor 871 can be suppressed, maintenance work by the operator can be reduced, and costs related to parts replacement etc. can also be reduced, making it economical.

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

1 agricultural machine, 11 first working body, 11L second working body, 11R second working body, 5 first earth leveling body, 5L second earth leveling body, 5R second earth leveling body, 51 first front leveling body, 51L second Front leveling body, 51R Second front leveling unit, 56 First rear leveling unit, 561 Link mechanism, 561a Bend portion, 56L Second rear leveling unit, 56R Second rear leveling unit, 7L Third work unit, 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 section, B Control section, B1 Storage section

Claims (4)

a first working body;
a second work body whose posture can be changed to a deployed position located on the side of the first work body and capable of working, and a stored position moved above the first work body;
a third work body provided on the second work body so as to be able to change its posture laterally with respect to the second work body between a deployed state and a retracted state positioned above the second work body;
a control unit capable of controlling a second work body drive device for changing the posture of the second work body and a third work body drive device for changing the posture of the third work body;
an operation section capable of transmitting a command signal when operated by a worker to the control section,
The control unit has a memory for storing second work body flag information, which is information indicating the posture state of the second work body, and third work body flag information, which is information indicating the posture state of the third work body. and,
When the control unit receives the command signal from the operation unit to change the third work body from the stored state to the deployed state, the control unit is configured to change the second work body flag information stored in the storage unit to the deployed state or the stored state. determine whether the condition is
When the control unit determines that the second work body flag information is in a stored state, the control unit stores the current third work body flag information in the storage unit without operating the third work body driving device. ,
When the control unit determines that the second work body flag information is in the deployed state, the control unit sets the third work body flag information in the deployed state and operates the third work body driving device, so that the third work body flag information is in the deployed state. When the operation of the body driving device stops, storing third work body flag information in the storage unit as a developed state;
An agricultural machine characterized by: When the operation of the operation unit is stopped while the third work body drive device is in operation, the control unit stops the operation of the third work body drive device, and controls the operation of the third work body drive device at the time when the third work body drive device stops. storing third work body flag information in the storage unit;
The agricultural machine according to claim 1, characterized in that: a first working body;
a second work body whose posture can be changed to a deployed position located on the side of the first work body and capable of working, and a stored position moved above the first work body;
a third work body provided on the second work body so as to be able to change its posture laterally with respect to the second work body between a deployed state and a retracted state positioned above the second work body;
a control unit capable of controlling a second work body drive device for changing the posture of the second work body and a third work body drive device for changing the posture of the third work body;
an operation section capable of transmitting a command signal when operated by a worker to the control section,
The control unit has a memory for storing second work body flag information, which is information indicating the posture state of the second work body, and third work body flag information, which is information indicating the posture state of the third work body. and,
When the control unit receives the command signal from the operating unit to change the third work body from the deployed state to the retracted state, the control unit operates the third work body driving device to move the third work body from the deployed state to the retracted state. When the operation of the body driving device stops, storing third work body flag information in the storage unit in a stored state;
An agricultural machine characterized by: The control unit stops the third work body drive device without generating the third work body flag information when the operation of the operation unit is stopped while the third work body drive device is in operation.
The agricultural machine according to claim 3, characterized in that:

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