JPH0746913A - Ground working machine - Google Patents

Abstract

PURPOSE:To provide a ground working machine capable of improving the operating efficiency while reducing the fear of damaging a ground working device. CONSTITUTION:This ground working machine is constructed by installing a controller 34 for controlling a lifting cylinder 4 for driving, lifting and lowering a ground working device, an artificial operating lever for the ground working device capable of freely performing the changeover operation to each of an operating position for bringing the ground working device into contact with the ground in a connected state of an operating clutch 12, a lowering position for bringing the ground working device into contact with the ground in a disconnected state of the operating clutch 12, a neutral position for directly keeping the ground working device at the position and a lifting position for forcedly lifting the ground working device to a prescribed position and forcedly lifting the ground working device to the set height with the controller 34 when a speed change lever 16 for a speed changer for travel in the mobile machine body 1 is operated to a backing speed changing position. In the ground working machine, the artificial operating lever is constructed so as to be operable to another operating position different from the respective operating positions and make the controller 34 perform the forced lifting operation in changeover to the backing speed change only when the artificial lever is operated to the operating position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground working machine such as a riding type rice transplanter. More specifically, the ground working apparatus is connected to a rear portion of a traveling machine body by a drive mechanism so that the ground working apparatus can be driven up and down. It is equipped with control means for controlling and can be switched between a working position to be grounded when the work clutch is engaged, a lowered position to be grounded when the work clutch is disengaged, a neutral position where it is held as it is, and an elevated position where it is forcibly raised to a predetermined position. An artificial operation lever for the ground work device is provided, and the control means is configured to forcibly raise the ground work device to a set height when the shift lever for the traveling transmission of the traveling machine body is operated to the reverse shift position. Related to ground work equipment.

[0002]

2. Description of the Related Art Conventionally, in the above ground working machine, the ground working device is forcibly lifted when the shift lever is operated to the reverse shift position regardless of the position of the manual operation lever.

[0003]

The above-described backward rise control is performed by the ground work device connected to the rear part of the machine to the work grounding position when turning on a headland during work traveling in the field. If the aircraft is moved backward with the settings still in place, the working device may accidentally collide with external objects such as ridges and may be damaged.Therefore, always force the working device to rise when the aircraft is moving backward. It was done. However,
In the above conventional structure, the ground work device is forcibly lifted to a set height (for example, a mechanical lift limit) with less risk of contact with an external object each time the gear shift lever is operated to the reverse gear shift position. , For example, when there is a sufficient distance to the ridge and it is not necessary to raise the ground work device, there is a harmful effect that the time for raising and lowering the ground work device becomes loss time and the work efficiency decreases. , There was room for improvement. The present invention aims to eliminate the above-mentioned problems.

[0004]

According to a characteristic configuration of the present invention, in the ground work machine described at the beginning, the manual operation lever is configured to be operable at another operation position different from each of the operation positions. The control means is configured to execute the forcible ascending operation at the time of switching the reverse gear only when operated to the operation position.

[0005]

[Operation] By switching the manual operation lever to each of the "working position", "lowering position", "raising position" and "neutral position", the lifting operation of the ground work device and the turning on / off of power are selected. The working state and the non-working state can be switched regardless of the traveling state of the traveling body, and the grounding state and the rising state can be appropriately displayed. Therefore, in the case where the distance between an external object such as a ridge and the ground work device is sufficiently long and there is little risk of contact, if set to the "down position", the ground work device is grounded and lowered, It is possible to make the traveling body travel backward. Then, for example, when it is desired to move the aircraft backward to align the work start position when the distance to an external object such as a ridge is short, the artificial operation lever is moved to another operation position different from each of the operation positions. By doing so, even if you forget to raise the lever, the ground work device will be forced to lift when you switch the shift lever to the reverse gear position, and the ground work device will collide with ridges. The risk can be reduced.

[0006]

As a result of the rational structure improvement, regardless of the traveling condition of the traveling body, it is possible to appropriately change the on / off position of the ground working device and the raising / lowering position based on the lever operation. It is possible to selectively bring out both control states, in which the work equipment is always forcibly raised, in accordance with the work situation, and while minimizing the risk of damage to the ground work equipment, work efficiency is maximized. It has become possible to provide a ground work machine capable of improving the workability.

[0007]

Embodiments will be described below with reference to the drawings. Figure 1
5 shows a riding type rice transplanter which is an example of a ground work machine. In this rice transplanter, a seedling planting device 3 [an example of a ground work device] is driven by a lift cylinder 4 [an example of a drive mechanism] via a parallel four-link mechanism 2 at the rear part of a riding type traveling body 1 and is electrically movable. The rolling motor 5 is connected so that it can be driven and rolled around the front-rear axis.

In the traveling vehicle body 1, the power of the engine 6 mounted on the front portion of the vehicle body is transmitted to the front and rear wheels 10, 11 via the belt type continuously variable transmission 7 and the gear shift type main transmission 9 in the transmission case 8. The seedling planting device 3 is configured so as to drive the machine body so that the power after shifting can be intermittently operated via the planting clutch 12 (an example of a work clutch).
The transmission system is configured to be transmitted to. The continuously variable transmission 7 is a split pulley type continuously variable transmission and is driven by an electric cylinder 15 so that the spacing between the split pulleys is set to a speed set by a potentiometer type speed setter 14 provided on the machine body control panel 13. It is configured to operate.
Further, the main transmission device 9 is configured to be switchable by the main transmission lever 16 to each of the forward first speed F1 for planting work, the second forward speed F2 for road traveling, the neutral position N, and the reverse position R. is there.

The seedling planting device 3 takes out seedlings one by one from the lower end of the seedling stand 18 which moves back and forth with a constant stroke with respect to the planting transmission case 17 which also serves as a frame. A planting mechanism 19 for planting, a plurality of grounding floats 20 that are swingably supported around a rear fulcrum, and the like are provided, and on both left and right sides, a line drawing for drawing a running index line in the next work stroke on the field scene. A marker 21 is provided so as to be able to move in and out freely. The drawing markers 21 and 21 are
It is configured such that it is urged by switching to the projecting posture and that the seedling planting device 3 is forcibly stored via the wire as it rises, and the left and right line drawing markers 21, 21 are locked and held in the stored state. The lock mechanisms 22 and 22 are selectively unlocked so that the wire drawing marker on the selected side is set to the projecting action posture when the seedling planting device 3 is lowered. As shown in FIG. 7, the steering wheel 2 is unlocked by releasing the lock mechanisms 22 and 22.
It is configured to be selectively performed by switching the first operation tool 24 provided on the lower right side of 3 from the return-biased neutral position in the forward and backward and forward and reverse directions. When the forward / reverse switching operation is performed on the first operating tool 24 from the neutral position, the engaging operation clutch switch 25 of the planted clutch 12 is interlocked with the interlocking operation. As shown in FIG. 1, the planted clutch 12 includes a gear reduction type actuating member 28 driven by a forward / reverse electric clutch motor 27 driven through a relay circuit 26 which is switched by a clutch engagement signal and a clutch disengagement signal. It is configured such that the clutch is engaged or disengaged via the clutch, and whether the clutch is engaged or disengaged is detected by one of the clutch-off switch 29 and the clutch-on switch 30 that act on the operating member 28. I am doing it.
In addition, the link mechanism for interlocking operation has a compression spring S that is interlockingly linked by a compression operation when the clutch disengagement side is operated.
By interposing P, the clutch disengagement operation can be quickly performed while ensuring the operation flexibility.

The seedling planting device 3 is provided with an operation lever 32 which is provided on the side of the driver's seat 31 so as to be manually rockable back and forth.
It is configured to be moved up and down by the switching operation. As shown in FIG. 6, the operation lever 32 has a “planting position” P (an example of a working position), a “down position” D, a “neutral position” N, an “up position” U, and an “automatic position” AT. Each is configured to be switchable, and the switching operation is
The control device 3 including a microcomputer, which detects the amount of forward and backward swing by the potentiometer type lever sensor 33.
4 [Example of control means] to determine the level of the detection value of the lever sensor 33. That is, the control device 34
Is in the "planted" position based on its level judgment,
When the seedling planting device 3 is grounded and lowered, the planting clutch 12 is operated to be engaged, and when it is in the "down position" D, the seedling planting device 3 is grounded and lowered in the planting clutch disengaged state.
If it is "neutral position" N, the position is maintained as it is, and if it is "raised position" U, seedling planting device 3 is forcibly raised to the set height. Then, when switched to the "automatic position" AT, a raising / lowering operation by the raising / lowering operation switch 35, which will be described later, can be performed, and a control for forcibly raising the seedling planting device 3 at the time of reverse traveling of the body is performed. As shown in FIG. 7, a second operation tool 36 is provided on the lower left side of the steering handle 23 in the aircraft control section.
When 6 is rocked upward from the neutral position where it is biased back, the raising / lowering operation switch 35 is turned on and off, and every time it is turned on and off, the seedling planting device 3 is grounded and lowered to the maximum raised position. The state in which the planting device 3 is raised can be made to appear alternately. When the second operating tool 36 is swung downward from the neutral position, the clutch switch 25 for switching the planting clutch 12 to the on state is operated. Also, a reverse detection switch 37 for detecting that the main shift lever 16 has been detected at the reverse position R.
When the reverse detection switch 37 is in the detection operation state, the control device 34 controls the seedling planting device 3 to be forcibly raised to the maximum raised position. The detection that the seedling planting device 3 has risen to the maximum raised position is detected by the fact that the link switch 38 provided on the rear side of the driver's seat 31 is brought into contact with the middle part of the link mechanism 2. is there. The raising / lowering control of the seedling planting device 3 by the raising / lowering operation switch 35 and the forced raising control at the time of backward movement of the machine are configured to be performed only when the operation lever 32 is operated to the “automatic position” AT. I am doing it.

Then, the operation lever 32 is operated to any one of the "planting position" P, the "down position" D and the "automatic position" AT, and the main speed change lever 16 moves forward first. The automatic rolling control is executed so that the left-right tilted posture of the seedling planting device 3 is maintained at the set posture in the state of being operated at the speed F1 or the second forward speed F2. More specifically, as shown in FIG. 3, a main shift switch 39 for detecting whether or not the main shift lever 16 is operated to the forward first speed F1 or the forward second speed F2, and the absolute value of the seedling planting device 3. A weight-type tilt sensor 40 that detects a tilt angle from a horizontal posture and a potentiometer-type tilt angle setter 41 that manually sets a target tilt posture are provided, and the control device is based on these outputs and the output of the lever sensor 33. Three
4 controls as shown in the control flowchart of FIG. It is detected by the main shift switch 39 that the main shift lever 16 is operated to the first forward speed F1 or the second forward speed F2, and the output of the lever sensor 33 causes the operation position of the operation lever 32 to be the "planting position". When it is detected that any one of P, “down position” D and “automatic position” AT is operated, the detected value XR of the tilt sensor 40 is different from the target value Ra by the tilt angle setting device 41. The detected value XR of the tilt sensor 40 is the target value Ra set by the tilt angle setter 41.
If it is smaller, the output for downward rightward is output to the relay circuit 42 until the values substantially match, and the rolling motor 5 is rotationally driven in the downward rightward direction. Inclination sensor 4
If the detected value XR of 0 is larger than the target value Ra by the tilt angle setter 41, the output for left-down is output to the relay circuit 42, and the rolling motor 5 is driven to rotate in the left-down direction. In addition, when the rolling motor 5 is driven to the mechanical operation limit, and the left and right limit switches 43 and 44 detect that, the relay circuit 42 is directly operated to stop the driving of the rolling motor 5. I am doing it. Even when an abnormality occurs in the automatic control system as described above, the relay circuit 42 is directly driven by the three-position switching type manual rolling switch 45 which is biased to return to the center to directly drive the rolling. It is configured to be possible. In the manual rolling operation by the manual switch 45, the control signal from the control device 34 is kept off.

During the planting work, automatic raising / lowering control is performed so that the height of the seedling planting device 3 above the ground can be maintained at a set value. As shown in FIG. 2, a potentiometer type float sensor 46 for detecting the vertical swing amount based on the fluctuation of the ground pressure of the ground float 20 located at the center of the left and right is provided.
The detection value of the float sensor 46 is the control panel 13
The control device 34 automatically switches and controls the electromagnetic control valve 48 for the lift cylinder 4 so that the height is set within the setting range by the potentiometer-type sensitivity setting device 47 provided in the. Will be maintained at the value. That is, as shown in FIG. 5, the control device 34 holds the state where the detection value XS of the float sensor 46 is within the dead zone of the target value Sa, and if the detection value XS is larger than the target value Sa, the electromagnetic control is performed. A drive signal is output to the ascending electromagnetic solenoid UPSol of the valve 48, and if the detected value XS is smaller than the target value Sa, the descending electromagnetic solenoid DWS.
It is controlled to output a drive signal to ol. Note that this automatic raising / lowering control is configured so that the control is executed only when the operation lever 32 is operated to any one of the “planting position” P, the “lowering position” D, and the “automatic position” AT. I am doing it. The sensitivity setting unit 47 changes the target reference attitude of the grounding float 20 and changes the sensing load of the grounding float 20 according to the hardness of the mud. Further, the control target value by the sensitivity setting device 47 can be corrected by the three-position changeover type correction switch 51. As shown in FIG. 8, the change characteristic of the control target value with respect to the set value by the sensitivity setter 47 is changed by switching the correction switch 51, and the parallel movement causes the insensitive side [the reference attitude of the ground float is in the forward rising direction] or the sensitive side [front]. Downward direction]. Further, if the traveling speed of the airframe is high, the grounding float 20 may float up, and the seedling planting device 3 may rise to make shallow planting. Therefore, the change characteristic of the control target value in the elevation control is the vehicle speed. It is configured to change according to. That is, the rotation speed sensor 52 for detecting the rotation speed of the engine 6 and the potentiometer-type shift position sensor 53 for the shift position of the continuously variable transmission 7 are provided, and the control device 34 calculates the vehicle speed from the outputs of these and the vehicle speed is If the vehicle speed is high (for example, the vehicle speed is 0.8 m / sec or more), the change characteristic of the control target value is changed to the insensitive side, and the higher the vehicle speed, the larger the change amount. Further, since the hydraulic pump (not shown) for the lift cylinder 4 is configured to be driven by the engine 6, the flow rate of the hydraulic oil for the lift cylinder 4 changes due to the change in the engine rotation speed. According to the detection result of the number, each electromagnetic solenoid UPS of the electromagnetic control valve 48
The duty ratio of the pulse current supplied to ol and DWSol is appropriately changed to control so that the hydraulic fluid flow rate is always maintained constant.

As shown in FIG. 9, the inclination angle setting device 4
1. Manual rolling switch 45 and correction switch 51
Are mounted on a rear wheel fender 54 located on the side of the driver's seat 31.
It is configured to be covered with.

Next, the control operation of the control device 34 relating to the lifting operation of the seedling planting device 3 will be described in detail with reference to the control flowcharts shown in FIGS. When the main switch is turned on and the control is started, the solenoid solenoid UPSo for raising the solenoid control valve 48 for the lift cylinder 4 is started.
1 and the output of the descending electromagnetic solenoid DWSol are turned off, and the operation flag f0 for the lifting operation switch 35, the clutch switch operation flag f1,
The automatic up-and-down control operation flag f2 and the backward movement operation flag f3 are initialized to "0" [Step 1,
2]. If the operation lever 32 is operated to a position other than the "automatic position" AT, the operation flags f0 to f3 are initialized, and if the "neutral position" N, the clutch engagement signal STR to the clutch motor 27 is turned off. If the clutch-off switch 29 is on, the clutch release signal ST
When P is turned off and the clutch off switch 29 is turned off, the clutch disengagement signal STP is output, and the planted clutch 1
2 is maintained in the cut state [steps 3 to 9]. And
If the operation lever 32 is in a position other than the “automatic position” AT or the “neutral position” N when the main switch is turned on, the operation lever 32 is once switched to the “neutral position” N, and then Go to step [Step 1
0].

When the operating lever 32 is operated to the "up position" U, the clutch engagement signal STR is turned off, the automatic lift control operation flag f2 is set to "0", and then the clutch off switch 29 is turned on. If so, the clutch disengagement signal STP is turned off, and if the link switch 38 is in the on state [the seedling planting device 3 is in the up state], the up electromagnetic solenoid UPSol is turned off, and if the link switch 38 is in the off state, it goes up. The electromagnetic solenoid UPSol for the plant is turned on to raise the seedling planting device 3 [steps 11 to 1].
7]. If the clutch-off switch 29 is not on, the clutch disengagement signal STP is turned on to disengage the planted clutch 12 by the clutch motor 27, and the ascending / descending solenoids UPSol and DWSol are turned off [steps 18 and 19]. When the operation lever 32 is operated to the “lower position” D, the output of the clutch engagement signal STR is stopped, and then the planted clutch 12 is operated in the same manner as the control described above.
While maintaining the cut state [steps 20 to 23], the seedling planting device 3 is lowered [steps 24 to 26]. When it is determined from the detection value of the float sensor 46 that the seedling planting device 3 is grounded, the automatic lifting control mode is executed [step 27]. At this time, if the link switch 38 is turned on, the lifting solenoid UPSol is turned off, and the automatic lifting control operation flag f2 is set to "1" [steps 28 to 30]. When the operation lever 32 is operated to the "planting position" AT, the clutch engagement signal STR is turned off, and then the clutch engagement signal STR is output to operate the clutch motor 27 until the clutch on switch 30 is turned on. The auxiliary clutch 12 is put into the engaged state [steps 31 to 34]. After that, automatic lifting control is executed. The operation flags f0, f1 and f3 other than the automatic lift control operation flag f2 are maintained at "0" [step 35].

Next, the operation when the operation lever 32 is operated to the "automatic position" AT will be described. Operating lever 3
When the elevating / lowering operation switch 35 is operated after 2 is operated to the "automatic position" AT, the switch operation flag f0 is set to "1", and if the link switch 38 is in the ON state (up state), the automatic elevating / lowering operation is performed. The control operation flag f2 is set to "0".
, The descent solenoid DWSol is turned on to lower the seedling planting device 3 [steps 36, 37, 39-
43]. When the seedling planting device 3 descends to the ground, the switch operation flag f0 is set to "0" and the automatic lift control operation flag f2 is set to "1", and then the automatic lift control mode is entered [step 44- 48]. Further, if the link switch 38 is in the off state at the time of operating the lifting operation switch, the planting clutch 12 is disengaged and the link switch 38 is raised until the link switch 38 is turned on [steps 49-5.
4]. When the link switch 38 is turned on, the switch operation flag f0 is set to "0" [steps 55 and 5].
6]. When the raising / lowering operation switch 35 is operated again during the raising or lowering operation, the operation direction is reversed [steps 56 to 60]. When the raising / lowering operation of the raising / lowering operation switch 35 is performed in the initial state, the planted clutch 12
If is not in the off state, return to the initial state [Step 3
7, 38]. Then, after the seedling planting device 3 is lowered, when the clutch switch 25 is turned on by the operation tools 24 and 36 of the control section described above, the clutch switch operation flag f1 is set to "1" and planting is performed. The clutch 12 is turned on and operated [steps 61 to 64], and the alarm buzzer 56 is sounded until the clutch on switch 30 is turned on. When the clutch on switch 30 is turned on, the clutch switch operation flag f1 is set to "0" to give an alarm. It is stopped [steps 65 to 69]. After that, the mode shifts to the automatic lifting control mode.

Then, after the operation lever 32 is operated to the "automatic" position, it is detected by the reverse detection switch 37 that the main shift lever 16 has been moved to the reverse shift position, and the link switch 38 is not in the ON state. , After setting the backward movement operation flag f3 to "1" [steps 70 to 7]
4], proceeding to step 49, the seedling planting device 3 is operated until the planting clutch 12 is disengaged and the link switch 38 is turned on.
Forcibly raise. When the link switch 38 is turned on, the backward movement operation flag f3 is set to "0" [step 56]. Further, there is no operation of the raising / lowering operation switch 35 or the detection operation of the reverse detection switch 37, and the reverse movement operation flag f3
Is “1”, when the seedling planting device 3 is in the raised position and the operation lever 32 is shifted from another position, or when the automatic raising / lowering control mode is not set, the seedling planting device 3 is held in the raising / lowering position [ Steps 75 to 79], and in other cases, the operation moves to the automatic lifting control mode [steps 80 and 46].

It should be noted that although reference numerals are given in the claims for facilitating the comparison with the drawings, the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 Control block diagram for lifting operation

[Figure 2] Lift control block diagram

FIG. 3 is a rolling control block diagram.

FIG. 4 Rolling control flowchart

[Fig. 5] Lifting control flowchart

FIG. 6 is an operation explanatory diagram of an operation lever.

FIG. 7 is a plan view of an arrangement portion of an operation tool.

[Figure 8] Sensitivity characteristic diagram

FIG. 9 is a plan view of the operation unit.

FIG. 10: Lifting control flowchart

FIG. 11: Lifting control flowchart

FIG. 12: Lifting control flowchart

FIG. 13: Lifting control flowchart

FIG. 14: Lifting control flowchart

[Fig.15] Overall side view of rice transplanter

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine 3 Ground work device 4 Drive mechanism 9 Transmission 12 Work clutch 16 Shift lever 32 Manual operation lever 34 Control means

Claims (1)

[Claims] 1. A drive mechanism (4) at the rear of the traveling vehicle body (1).
Connect the ground work device (3) so that it can be driven up and down by
A work position which is provided with a control means (34) for controlling the drive mechanism (4), and which grounds the work clutch (12) in the engaged state;
The lower position where the work clutch (12) is grounded in the disengaged state,
A manual operation lever (32) is provided for the ground work device (3) that can be switched between a neutral position that is maintained as it is and a raised position that is forcibly raised to a predetermined position, and a traveling transmission device for the traveling machine body (1) is provided. A ground work machine configured such that when the speed change lever (16) for (9) is operated to a reverse speed change position, the control means (34) forcibly raises the ground work device (3) to a set height. The manipulating lever (32) is configured to be operable at another operating position different from each of the operating positions, and the control means (34) is operated only when the operating position is operated.
However, the ground work machine configured to execute the forcible raising operation at the time of changing the reverse gear.