JPH0823730A - Work machine - Google Patents

Abstract

(57) [Summary] [Purpose] To construct a working machine that reliably raises the working device only when a gear shifting operation to move the machine body backward is performed. [Structure] A gear shift lever 22 for setting the traveling speed of the traveling machine body in a continuous operation range is provided, and the setting position of the gear shift lever 22 is detected by a potentiometer 30 and the continuously variable transmission 5 is operated via an electric cylinder 25. That the shift lever 22 is set to a reverse drive range of the machine body by a signal from the potentiometer 30, and the shift lever 22 is set to a reverse drive position slightly from the traveling stop position. Is detected by the limit switch 32, the control means D is provided to raise the seedling planting device to a predetermined level.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine in which a working device is connected to a traveling machine body so that it can be moved up and down by an actuator. The present invention relates to a technique for raising the temperature to a predetermined level.

[0002]

2. Description of the Related Art As a technique for raising a working device during a speed change operation for moving a traveling machine body backward as described above, Japanese Patent Laid-Open No. 5-
There is one disclosed in Japanese Patent Laid-Open No. 219805, and in this conventional example, a traveling speed change lever for setting the traveling direction of the machine body to either forward or reverse is provided with a switch for detecting that it is set to a reverse shift position, When the switch detects that the shift lever has been set to the reverse position, the control system is provided to raise the working device (seedling planting device) connected to the traveling machine body.

[0003]

However, in the structure in which the operating position of the lever is detected by the switch, the mounting position of the switch changes due to, for example, loosening of the screw for mounting the switch due to vibration during work. In this case, even if the lever is not set to the reverse position, the switch may detect the lever and start the control for raising the working device. This inconvenience also occurs when a potentiometer is used instead of the switch, and there is room for improvement.

In particular, for the purpose of simplifying the gear shifting operation, the machine body is provided with a continuously variable transmission, and a single operation tool for operating the continuously variable transmission is operated in a continuous range to control the forward speed of the machine body. In the case where the speed change operation system is configured to perform setting, stopping the aircraft, and setting the reverse speed of the aircraft, the interval between the stop position of the aircraft and the setting range of the reverse speed of the aircraft is relatively small. This is likely to cause inconvenience.

An object of the present invention is to rationally configure a working machine that reliably raises the working device only when a gear shifting operation for moving the machine body backward is performed.

[0006]

A feature of the present invention (claim 1) is to connect a working device which is operated to move up and down by a lifting actuator to a rear end of a traveling machine body, and to determine forward speed and reverse speed of the traveling machine body. A continuously variable transmission for stepless adjustment, and an operating tool for operating the continuously variable transmission to adjust forward speed, stop traveling, and adjust reverse speed in a continuous operation range, and A first sensor for detecting the operation position of the operation tool and operating the continuously variable transmission with a speed change actuator, and a fact that the operation tool is operated to a position slightly separated from the traveling stop position to the reverse side of the machine body. Each of the second actuators for detecting, the elevator actuator when detecting that the operating tool is set to the backward region of the body by the signal from the first sensor, and when the second sensor detects the operating tool Operation to have a point comprising a control means for raising the working device to a predetermined level, its effect, and the effect is as follows.

[0007]

According to the above-mentioned characteristic (claim 1), when the operating tool is operated from the traveling stop position toward the backward range of the machine body, the first sensor detects that the operating tool has reached the backward range of the machine body. The second sensor detects that the operating tool has been further operated toward the backward travel region of the machine body, and after detecting each of them, the control means drives the lifting actuator to raise the working device. Furthermore, since the first sensor is provided to operate the shift actuator, the first sensor can be used without any special sensor.

That is, the control for raising the working device is started only when each of the first sensor and the second sensor reaches the detection state, so that, for example, the mounting position of the second sensor deviates from an appropriate position, Even if the operating tool at the traveling stop position is detected, the control for automatically raising the working device is not started only by setting the operating tool to the traveling stop position, and conversely, the mounting position of the first sensor. Even when the operating tool is deviated from an appropriate position and the operating tool is detected when the operating tool is set to the traveling stop position, the control for automatically raising the working device is not started. In addition, only the first sensor having a simple structure such as a limit switch is required to make this determination.

According to a second aspect of the present invention, the operating tool is set in the rearward range of the machine body while the first sensor detects a state in which the operating tool is set in the forward range of the machine body or in a stop position of the machine body. The phenomenon that the second sensor detects is not possible when the respective sensors are arranged at appropriate positions, and when this phenomenon occurs, the alarm mechanism is activated to notify the operator. , It will be recognized that the detection system of the operation tool is abnormal.

That is, by using the two sensors, it is possible to easily determine that the mounting position of at least one of the sensors is out of the proper position based on the relative information from the respective sensors, and an abnormality occurs. Occasionally, the operation of the alarm mechanism makes it possible for the operator to recognize this abnormality and prompt the inspection and repair of the first sensor and the second sensor.

[0011]

Therefore, by providing one dedicated sensor, the number of parts can be reduced, and it is possible to reliably detect that the operating tool is set in the rearward travel range of the machine body and perform control to raise the working device. However, there is almost no erroneous control such as raising the work device when the vehicle is stopped (Claim 1), and the use of the two sensors allows the operator to accurately recognize the occurrence of the abnormality (Claim 1). 2) The work machine was reasonably constructed.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an engine 4 is provided at a front portion of a traveling machine body 3 having a drive-type front wheel 1 and a drive-type rear wheel 2 which are operated by steering, and power from the engine 4 is continuously changed. The hydrostatic stepless transmission 5 and the transmission case 6 for traveling to which the speed change power from the stepless transmission 5 is transmitted are mounted, and the driving seat 7 is arranged at the center of the traveling machine body 3. Then, a seedling planting device A as a working device is connected to the rear end portion of the traveling machine body 3 via a link mechanism 9 which is driven and moved up and down by a hydraulic cylinder 8 as an ascending / descending actuator. Configure rice transplanter.

The seedling planting device A is rotated by the seedling mount 10 on which the mat-shaped seedling W is placed, the transmission case 11 to which power is transmitted from the traveling machine body 3, and the power transmitted from this transmission case 11 via the chain case 12. Rotary case 13,
From the lower end of the mat-like seedling W placed on the seedling placing table 10 at the time of working, the rotary case 13 is provided with a pair of planting arms 14 provided one by one, and a plurality of ground leveling floats 15 each configured for multiple row planting. The planting arms 14 cut out the seedlings one by one and plant them in a field scene.

An elevating lever 16 is provided on the right side of the driver's seat 7 for controlling the raising and lowering of the seedling planting device A and for turning the planting clutch on and off. As shown in FIG. 7, a panel near the steering handle 17 is provided. Is a first display portion B that indicates a work state by lighting a lamp, a liquid crystal display 18 that displays digital numbers, a plurality of switches 19 that select a display mode of the liquid crystal display 18, and an alarm lamp 20 as an alarm mechanism. Each of the second display parts C is formed, and an accelerator lever 21 of the engine 4 and a speed change lever 22 as an operation tool for operating the continuously variable transmission 5 are provided at the right side position of the second display part C. There is.

The continuously variable transmission 5 is, as shown in FIG.
A variable displacement hydraulic pump 5A driven by power from the engine 4, and a hydraulic motor 5B driven by supply of pressure oil from the hydraulic pump 5A and transmitting its output to a transmission case 6 for traveling. And a trunnion shaft 23 for adjusting the amount of pressure oil supplied from the hydraulic pump 5A.
And an electric cylinder 25 as a speed change actuator for operating the lever 24 of the trunnion shaft 23, and
A potentiometer 26 for measuring the operation amount of the trunnion shaft 23 is provided. The electric cylinder 25 has a structure in which a nut-shaped member is screwed onto a screw shaft driven by an electric motor, and the nut member is shifted by forward and reverse rotation of the electric motor (the structure is not shown).

By setting the rotational posture of the trunnion shaft 23 to the traveling stop position indicated by "N" in the figure, the pressure oil supply from the hydraulic pump 5A is stopped and the drive of the hydraulic motor 5B is stopped. When the vehicle is operated from the travel stop position indicated by “F” to the side indicated by “F”, the hydraulic motor 5B is driven in the forward direction of the machine by the supply of pressure oil from the hydraulic pump 5A, and the oil amount accompanying the increase in the operation amount is increased. Increase the hydraulic motor 5
B drive speed increases. Further, when the travel stop position indicated by "N" is operated to the side indicated by "R", the pressure oil from the hydraulic pump 5A is supplied in the direction opposite to the forward movement, and the operation amount is increased. Due to the increase in the amount of oil, the hydraulic motor 5
B drive speed increases.

As shown in FIG. 4, the shift lever 22
The boss portion 27 at the base end of the frame 2 on the traveling body side.
8 is supported so as to be swingable in the front-rear direction about the axis X that is in a sideways posture, and the bracket 29 of the boss portion 27 is supported.
On the other hand, the base end portion of the speed change lever 22 is connected and fixed to a shaft-shaped member 22A that is swingable in the left-right direction around a longitudinal axis Y. Further, a potentiometer 30 as a first sensor for measuring an operation position by swinging around the axis X is provided at a base end portion, and an operation path 31A is provided in a lever guide 31 shown in FIG. Is the axis X
It is configured to be allowed by swinging around, and the lateral operation of the intermediate position of the operation path 31A is permitted by swinging around the axis Y.

Further, the speed change lever 22 is connected to the operation path 31A.
When the operation position is set to "N", the trunnion shaft 23 is operated to the posture shown by "N", and when it is set in the region "F" of the operation path 31A, the trunnion shaft 23 is moved to the position of the shift lever 22 within the region "F". When operated to a position corresponding to the operation position and set within the range of “R” of the operation path 31A, the trunnion shaft 2
The gear shift operation system is configured to drive the electric cylinder 25 while feeding back the signal from the potentiometer 26 so as to operate 3 in the range of "R" to the position corresponding to the operation position of the gear shift lever 22.

A limit switch 32 serving as a second sensor for detecting that the shift lever 22 is operated to a position slightly separated from the traveling stop position "N" to the rearward movement side "R" of the machine by contact with the shift lever 22. Is provided on the back side of the lever guide 31. The slightly separated position is a gear shift position where the machine body travels at an extremely low speed (creep state).

An outline of the control system of this rice transplanter is shown in FIG. 2, and for the control device 33 which operates the control means D and the alarm means F, the potentiometer 30 and the trunnion operated by the speed change lever 22. Potentiometer 26 for measuring the operation amount of the shaft 23, potentiometer 34 for measuring the operation amount of the elevating lever 16, and the limit switch 3
2. A signal input system from each of the connectors 35 formed in the signal system for transmitting the signal of the remaining amount of the seedlings of the seedling planting device A to the traveling machine body 3 side is formed, and the solenoid valve for the hydraulic cylinder 8 is formed. 36, a relay 37 for controlling the electric cylinder 25,
An output system for controlling each of the liquid crystal display 18 and the alarm lamp 20 is formed.

Further, in this rice transplanter, the seedling planting apparatus A is automatically operated when a shift operation for moving the traveling machine body 3 backward is performed.
The control device 33 operates so as to raise the value to the upper limit. That is, the automatic ascending routine shown in FIG. 3 is set in the form of a subroutine, and at the time of gear shift operation, the operation position of the gear shift lever 22 is obtained based on the signal from the potentiometer 30 of the gear shift lever 22 (# 101 step). When the shift operation is performed in this manner, the shift operation is performed in which the electric cylinder is operated while the signal from the potentiometer for shifting is used as a control target and the signal is fed back from the potentiometer on the continuously variable transmission side (this shift control is performed). The operation is not described in detail, step # 102), and the gearshift lever 22 is moved to the rearward position "R" of the body by a signal from the potentiometer 30.
When it is determined that the limit switch 32 is ON, the signal from the limit switch 32 is input, and when the limit switch 32 is in the ON state, the seedling planting apparatus A is raised to the upper limit (# 103 to # 106). Step).

Next, even when the speed change lever 22 is in a position other than the reverse position "R" of the machine by the signal from the potentiometer 30, the signal from the limit switch 32 is input and the limit switch 32 is in the ON state. Then, the alarm lamp 20 is turned on and an error code can be output to the liquid crystal display 18 (steps # 107 to # 110). The error code is output to the liquid crystal display 18 by operating the switch 19 of the second display section C.

In this flowchart, # 103-
In step # 106, the control means D is formed, and # 103,
Also, the warning means E is formed in steps # 107 to # 110.

As described above, the liquid crystal display 18 outputs not only the error code but also the current time, the accumulated working time, the engine speed of the engine 4, and the data representing the status of the sensor by the selection operation of the switch 19. 1
The connector 3 is configured to output in hexadecimal notation.
Even when 5 is in the separated state, the alarm lamp 20 is turned on, and the state in which the error code can be output to the liquid crystal display 18 is reached, and the operation of the switch 19 allows confirmation of the error code.

As described above, in the present invention, the control for raising the seedling planting apparatus A is started only when the potentiometer 30 as the first sensor and the limit switch 32 as the second sensor reach the detection state. Even if the position of the sensor deviates from the proper position, the rising control of the seedling planting device A is not started even if the position of the speed change lever 22 is erroneously detected, and by using two sensors, respectively. Based on the relative information from the sensors, it can be easily determined that the mounting position of at least one of the sensors deviates from the proper position, and when an abnormality occurs, the alarm lamp 20 is activated to detect the occurrence of the abnormality. Can be recognized by.

[Other Embodiments] In addition to the above embodiments, the present invention is
For example, the first sensor is a rotary encoder,
It is also possible to configure the second sensor by a non-contact type sensor such as an optical sensor, and the control means and the alarm means are logic gates,
It is also possible to configure with a hard circuit using a comparator or the like. The present invention can also be applied to working machines other than rice transplanters, such as agricultural tractors equipped with a rotary tiller.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a block circuit diagram of a control system.

FIG. 3 is a flowchart of control operation

FIG. 4 is a plan view of a shift lever operation path.

FIG. 5 is a rear view of the shift lever support structure.

FIG. 6 is a schematic diagram of an operating system of a continuously variable transmission.

FIG. 7 is a plan view of a panel near a steering wheel.

[Explanation of symbols]

 3 Traveling Vehicle 5 Continuously Variable Transmission 8 Elevating Actuator 20 Warning Mechanism 22 Operation Tool 25 Shift Actuator 30 First Sensor 32 Second Sensor A Working Device D Control Means E Warning Means

Claims (2)

[Claims] 1. A working device (A) which is vertically moved by an elevating actuator (8) is connected to a rear end of the traveling machine body (3), and the forward speed and the backward speed of the traveling machine body (3) are continuously variable. Adjusting the continuously variable transmission (5), and operating the continuously variable transmission (5) to adjust the forward speed, stop the traveling,
An operating tool (22) is provided for adjusting each reverse speed in a continuous operation range, and the operating position of the operating tool (22) is detected to operate the continuously variable transmission (5) with a speed change actuator (25). A first sensor (30) for
The operation tool (22) includes second sensors (32) for detecting that the operation tool (22) has been operated to a position slightly separated from the traveling stop position to the rearward travel side of the machine body, and the operation tool is generated by a signal from the first sensor (30). The work device is operated by operating the elevating actuator (8) when it is detected that (22) is set in the reverse region of the body and the second sensor (32) detects the operation tool (22). A working machine comprising a control means (D) for raising (8) to a predetermined level. 2. The first sensor (30) detects a state in which the operating tool (22) is set to a forward traveling region of a body or a traveling stop position, and the second sensor (32) causes the operating tool (32) to operate. The working machine according to claim 1, further comprising alarm means (E) for activating the alarm mechanism (20) when detecting 22).