JPH084410B2 - Work vehicle - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a work vehicle, such as a riding type rice transplanter or an agricultural tractor, which is connected to a machine body such that a ground work device can be lifted and lowered by an actuator.

[Conventional technology]

In a riding type rice transplanter, which is one of the work vehicles, a seedling planting device (corresponding to a ground working device) is a single-acting hydraulic cylinder (corresponding to an actuator) and an operating lever for operating a hydraulic cylinder (corresponding to a setting device). ) Is connected to the airframe so that it can be moved up and down freely.

In the riding-type rice transplanter, when starting the planting work in the paddy field, the first start position (position of the seedling planting device with respect to the ridge) may be positioned while moving backward at the corner of the paddy field. . Therefore, when the speed change device for traveling is operated to the reverse side, the seedling planting device is automatically lifted so that the seedling planting device does not collide with the ridges during the backward travel, and Some devices are configured so that the grounding float of the device, grounding type height sensor, etc. are not grounded while being grounded.

[Problems to be Solved by the Invention]

In the above-described structure, when the traveling transmission is operated to the reverse side, the control valve for the hydraulic cylinder is automatically operated and held on the hydraulic oil supply side. As a result, the hydraulic cylinder extends and the seedling planting device is lifted.
Since the control valve remains held on the hydraulic oil supply side, the hydraulic cylinder continues to expand and the seedling planting device is lifted to its upper limit.

However, when accurately determining the position of the seedling planting device with respect to the ridge at the corner of the paddy field, if the seedling planting device is lifted to the upper limit and the seedling planting device and the ridge are vertically separated as described above. , For the steering vehicle, the positional relationship between the seedling planting device and the ridge and the distance cannot be accurately grasped. Therefore, when the seedling planting device is lowered to the rice field with the intention of positioning the seedling planting device, the seedling planting device often deviates from the target position.

It is an object of the present invention to configure the ground work device as described above so that it can be accurately positioned.

[Means for solving the problem]

A feature of the present invention is that the work vehicle as described above is configured as follows. That is, when the traveling transmission is operated to the reverse side, the first control means for raising and holding the actuator to a predetermined position regardless of the operation position of the setting device, and the setting device after the operation of the first control device When it is detected that the neutral stop position is reached, the second control means for releasing the function of the first control means to restore the operation function of the actuator by the setting device is provided. It is as follows.

[Work]

With the configuration described above, when the traveling transmission is operated to the reverse side, even if the setting device (operation lever for raising and lowering the ground work device) is in the lowered position, the ground work device is largely lifted to the predetermined position. Operated.

After that, if the setter is at the neutral stop position, or if the setter is once returned to the neutral stop position, the ground work device is raised or lowered to any position by operating the setter to the ascending or descending position. It is ready for operation. Therefore, the ground work device can be moved down to a position where it is easy to grasp the position and distance with respect to the target object (ridge, end of work place, etc.). Thereby, the ground work device may be positioned with respect to the target object.

As a configuration as described above, it is also conceivable that when the ground work device is largely lifted to a predetermined position and then a switch or the like other than the setting device is operated, the ground work device can be moved up and down by the setting device. . However, when the ground work device is lifted to a predetermined position, the setting device is moved to the lowered position or the automatic lift position (the position where the ground work device is automatically lifted to maintain the set height above the ground). If the switch is operated, the ground work device may be suddenly lowered according to a command from the setting device when the switch is operated.

On the other hand, in the present invention, if the setting device is not at the neutral stop position or if the setting device is not returned to the neutral stop position once, the operation of raising and lowering the ground work device by the setting device cannot be performed.
That is, since the setter is operated to the neutral stop position, the ground work device is stopped at that position at this point. Therefore, the ground work device can be moved up and down by subsequently operating the setting device, and the ground work device is not suddenly lowered.

〔The invention's effect〕

As described above, when the ground work device is lifted during the reverse drive, the ground work device can be lowered to any position thereafter, and the ground work device is positioned while the aircraft is moving backward. Can now be done accurately.

Further, when the ground work device is switched to a position where it can be lowered to an arbitrary position, the ground work device does not suddenly descend, and a highly safe product is obtained.

〔Example〕

Hereinafter, an embodiment in which the present invention is applied to a riding type rice transplanter which is an example of a work vehicle will be described in detail with reference to the drawings.

As shown in FIG. 3, an engine (3) is provided at the front of the machine supported by front wheels (1) and rear wheels (2), a control unit (4) is provided at the center, and a seedling planting device (5) (ground) is provided at the rear. Equivalent to a working device) is equipped with a riding type rice transplanter. And
Power from the engine (3) is transmitted to the front wheels (1) and the rear wheels (2) via a belt type continuously variable transmission (6) and a gear transmission (7) (corresponding to a transmission for traveling). At the same time, it is transmitted to the seedling planting device (5) via the PTO shaft (8).

The gear transmission (7) is capable of shifting to two forward gears and one reverse gear, and the first gear shift lever (20) performs a gear shift operation. The belt type continuously variable transmission (6) is of a split pulley type as shown in FIG. 1, and is operated by a tension pulley (19) which is oscillated by an electric cylinder (18).

As shown in FIG. 1, a control panel (22) having a control handle (21) is provided with a second speed change lever (23), and a signal from a potentiometer (not shown) for detecting the operation position is transmitted. It is input to the control device (17). As a result, the electric cylinder (18) is expanded and contracted by the control device (17) so as to reach the artificially set speed set by the second speed change lever (23).

As shown in FIG. 3, the seedling planting device (5) is composed of a planting mission case (9), a planting arm (10), a seedling stand (11), etc. and does not have a grounding float, The front and rear axis (P ₁ ) of the four-link mechanism (12) extended from the machine body
Around the periphery, a seedling planting device (5) is connected in a rolling manner. Then, a single-acting lifting cylinder (13) (corresponding to an actuator) that lifts and lowers the four-link mechanism (12).
Are directly connected to the quadruple link mechanism (12) without using a buffer such as a spring, and the support guides on the rear end upper part of the quadruple link mechanism (12) and the rear surface of the seedling stand (11) ( 37), a double-acting rolling cylinder (14) 0 for rolling the seedling planting device (5) and a buffer such as a spring are directly connected to the wind.

As shown in FIG. 1, a first control valve (25) and a second control valve (26) for supplying and discharging hydraulic oil are provided for the lifting cylinder (13) and the rolling cylinder (14), respectively. The first and second control valves (25) and (26) are operated by a signal from the control device (17).

Further, as shown in FIGS. 3 and 1, a pair of left and right ground sensors (15R) and (15L) that follow the ground contact with the rice field (G) are provided on the lower surface of the planted mission case (9). The signals from the potentiometers (16R) and (16L) that detect the swing angles of the ground sensors (15R) and (15L) are input to the control device (17).

Next, a flow of automatic control of the riding type rice transplanter will be described. As shown in FIGS. 2 and 1, when a mat-like seedling is placed on the seedling stand (11) such as at the start of seedling planting work, the seedling supply switch ( 24)
Turn on. This allows the lifting cylinder (13) to
The seedling planting device (5) is moved up to a predetermined position where the PTO shaft (8) becomes substantially horizontal (step (S ₁ ),
(S ₂ )).

When the first shift lever (20) is operated to the reverse position (R), a signal from a reverse switch (not shown) that detects this operation is input to the control device (17). As a result, the first control valve (25) is operated and held at the hydraulic oil supply position, and the seedling planting device (5) is moved up to the highest position (steps (S ₃ ), (S ₄ )). (Corresponding to the first control means).

Further, the operation panel (22) is provided with an operation switch (27) (corresponding to a setting device) for raising and lowering the seedling planting device (5), and raising the seedling planting device (5) to the highest position. If the operation switch (27) is in the neutral stop position after
Alternatively, if the operation switch (27) is returned to the neutral stop position, the operation switches from the step (S ₁₈ ) to a state where the operation switch (27) can move the seedling planting device (5) up and down (second step).
Corresponding to the control means).

In other words, when the operation switch (27) is operated to the raised position, the rolling cylinder (14) causes the seedling planting device (5) to return so as to be parallel to the machine body, and the lifting cylinder (13) causes the seedling planting device (5) to return. The attachment device (5) is operated to move upward (steps (S ₁₉ ), (S ₂₀ )). When the operation switch (27) is operated to the neutral stop position,
The seedling planting device (5) is returned parallel to the machine body, and the raising and lowering operation of the seedling planting device (5) is stopped (steps (S ₂₁ ), (S ₂₂ )).

Then, the operation switch (27) is kept at the lowered position or the planting position (the seedling planting device (5) is parallel to the rice field (G) and is kept at the set height from the rice field (G). To the position where the automatic lifting operation is performed), the step (S
_23), the process proceeds to step (S ₂₅₎ from (S _24). Then, as shown in FIG. 1, when the main clutch (29) provided on the input side of the gear transmission (7) is engaged (actually in reverse), the step (S ₂₆ ) is executed. Transition. In other words, the seedling planting device (5) is lowered while being returned so as to be parallel to the machine body. In this case, the position slightly higher than the left and right ground sensors (15R) and (15L) grounding on the field (G) is at the potentiometer (at the base of the four-link mechanism (12) shown in FIG. 30)
Is stored in advance, and the descending operation of the seedling planting device (5) is stopped when the seedling planting device (5) descends to this position.

The main clutch (29) and has not been entered operation (gear shift device (7) is to actually being operated to the reverse side state where no reverse), the process proceeds to step (S ₂₇₎ seedlings The planting device (5) is lowered while being returned so as to be parallel to the body.

When the mat-shaped seedlings have been placed on the seedling stand (11) and the seedling supply switch (24) is turned off, if the operation switch (27) is not in the neutral stop position, the seedlings will be planted. The device (5) will move up and down unexpectedly, so after the seedling supply switch (24) is turned off, the operation switch (27) must be returned to the neutral stop position once before planting seedlings. raising and lowering operation of the device (5) is prevented from performing (step (S _5)).

After that, when the operation switch (27) is operated to the raised position, the rolling cylinder (14) causes the seedling planting device (5).
Is returned so as to be parallel to the machine body, and the raising and lowering cylinder (13) raises the seedling planting device (5) (steps (S ₆ ) and (S ₁₆ )). Then, when the operation switch (27) is operated to the neutral stop position, the seedling planting device (5) is returned in parallel to the machine body, and the raising and lowering operation of the seedling planting device (5) is stopped ( step _{(S 7), (S 8} )).

Then, when the operation switch (27) is operated to the lowered position, the seedling planting device (5) is returned in parallel to the machine until the ground sensors (15R) and (15L) are grounded to the rice field (G). While descending, it goes down (step (S ₉ ),
_{(S 10), (S 17} )). And ground sensor (15R), (1
When 5L) is grounded and lifted on the rice field (G), the raising / lowering control and rolling control of the seedling planting device (5) are started based on the signal. That is, the left and right ground sensors (15
The raising and lowering cylinder (13) and the rolling cylinder (14) are expanded and contracted so that the angles of R) and (15L) are maintained at the set values, and the seedling planting device (5) is attached to the field (G). than it is maintained at the set height above the paddy while keeping parallel (G) (step _{(S 10), (S 11} )).

When the operation switch (27) is operated to the planting position, a planting clutch (not shown) is turned on, and the seedling planting device (5).
Starts planting seedlings, and the raising / lowering control and rolling control of the seedling planting device (5) as described above are performed (steps (S ₁₂ ), (S ₁₃ ), (S ₁₁ )). Then, the marker switch maneuver panel (22) shown in FIG. 1 (28) when being operated in the right or left, (not shown) right or left side of the marker is out operation (step (S ₁₄₎ , (S
₁₅ )).

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 shows an embodiment of a work vehicle according to the present invention, FIG. 1 is a view showing a linked state of each part of a control panel and a transmission for traveling, FIG. 2 is a control flowchart, and FIG. 3 is a riding type vehicle. It is the whole rice transplanter side view. (5) …… Ground work device, (7) …… Vehicle transmission, (13) …… Actuator, (27) …… Setting device.

Claims (1)

[Claims] 1. A ground work device (5) is provided with an actuator (1).
A setting device (27) which is connected to the machine body so that it can be freely moved up and down by 3) and sends an operation signal to the actuator (13) by an artificial operation is provided by the setting device (27) to the ground working device (5). When the traveling transmission (7) is operated to the reverse side, the actuator (13) is moved to a predetermined position regardless of the operating position of the setting device (27). To the setting device (2
When it is detected that 7) is located at the neutral stop position, the work including second control means for releasing the function of the first control means and restoring the operation function of the actuator (13) by the setter (27) car.