JPH09140225A - Working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a working machine capable of changing a rolling attitude of a seedling planting device with a simple operation and to keep the changed state. SOLUTION: This working machine is a seedling planting device connected to a running machine body with freely rolling around a shaft core and has a rolling sensor 32 and a controller 41 for driving a rolling motor 27 so that a rolling attitude of the seedling planting device measured by the rolling sensor 32 is made horizontal. Furthermore, the working machine has a forcedly rolling means for driving the rolling motor 27 by the operation of a right lower switch 35 or a left lower switch 36 to change a rolling attitude of the seedling planting device and controlling to keep the rolling attitude, and has light emitting diodes 37-39 working in the control at the state out of the horizontal attitude of the rolling means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling sensor for connecting a working device to a traveling machine body so as to be able to roll around an axis in a front-back direction and measuring the rolling position of the working device with respect to the working device. The present invention relates to an improvement of a working machine, which is provided with an actuator that determines a rolling posture of the working device, and that includes a horizontal rolling means that drives the actuator so that the rolling posture of the working device measured by a rolling sensor becomes horizontal.

[0002]

2. Description of the Related Art Conventionally, as an example of a working machine having the above-mentioned structure, a rice transplanter is disclosed in Japanese Patent Laid-Open No. 6-292419. In addition to having a seedling planting device that can freely roll around the axis of the orientation posture, a rolling drive mechanism that drives this seedling planting device in the rolling direction, the amount of inclination of the seedling planting device in the rolling direction based on the horizontal posture. Equipped with a tilt sensor and a manual change-over switch for measuring, the rolling drive mechanism is operated so that the posture of the seedling planting device measured by the tilt sensor is horizontal during work, and the manual change-over switch is operated when necessary. Therefore, the control operation is set so that the rolling drive mechanism can be operated to change the posture of the seedling planting device regardless of the measurement result of the tilt sensor.

[0003]

Here, considering the rolling operation in rice planting work, in the field near the ridge, the side closer to the ridge is slightly inclined toward the side where the field scene is lifted, so that the machine is set in the ridge. When running along the seedling planting device (working device), the rolling posture should be set so that the side on the ridge side of the seedling planting device is slightly raised without controlling the seedling planting device (working device). It is also effective from the aspect of maintaining constant. However, in the configuration of the conventional example, although the manual changeover switch for changing the rolling posture of the seedling planting device is provided, since this switch is configured to change the rolling posture of the seedling planting device only when operated, the switch There is room for improvement in that the control returns to maintaining the seedling planting device in a horizontal position when the operation is canceled.

Further, for the purpose of eliminating this inconvenience, the inclination sensor is constructed so as to output the measurement result as a voltage like a potentiometer type, and the voltage value of the control target is freely changeable. It is also possible to enable rolling control for maintaining the seedling planting device in a desired rolling posture, but when performing control for maintaining the seedling planting device in a rolling posture deviating from the horizontal posture in this way, After this control, forgetting the operation of returning the seedling planting device to the control operation with the horizontal posture as the control target, and deepening the planting depth of the seedling on one side of the left and right positions of the seedling planting device, and the other There is room for improvement because it may cause the inconvenience of reducing the planting depth of the seedlings on the side of. In addition, with the potentiometer for voltage adjustment for changing the control target so as to keep the seedling planting device (working device) in a rolling posture deviating from the horizontal, the potentiometer can detect the neutral position for horizontal control. Not only is it difficult to perform, but if the operator accidentally makes a large operation, the seedling planting device may unintentionally make a large rolling operation, and there is room for improvement in this respect as well.

An object of the present invention is to reasonably configure a working machine which enables a rolling control for maintaining the working apparatus in a posture deviated from a horizontal posture and allows a worker to recognize the control state. At the same time, the rolling control for maintaining the work device in the horizontal posture and the rolling control for maintaining the work device in the posture deviated from the horizontal posture can be easily switched.

[0006]

A first feature of the present invention is, as described at the beginning, provided with a rolling sensor for measuring the rolling posture of a working device and an actuator for determining the rolling posture of the working device. In a working machine equipped with a horizontal rolling means for driving the actuator so that the rolling posture of the working device measured in step 1, the actuator is driven with priority over the rolling control based on the measurement result of the rolling sensor,
It is provided with a forcible rolling means for setting and maintaining the rolling posture of the working device, and a display means for operating when the rolling posture of the working device is set by the forcible rolling means. Its action is as follows. .

A second feature of the present invention is that a horizontal switch for functioning the horizontal rolling means and a function for driving the actuator to roll the working device in a predetermined direction and at the same time functioning the forced rolling means. 1
Two types of control modes are selectably provided with a forced switch and a second forced switch that drives the actuator in a direction opposite to the rolling direction to roll the work device and at the same time functions the forced rolling means. At one point, its action is as follows.

A third feature of the present invention is that the two kinds of display means are provided so as to provide different display forms depending on the operation of the second force switch depending on whether the force rolling means is functioning or not. The operation is as follows.

A fourth feature of the present invention is to provide storage means for holding the deviation amount of the measurement result of the rolling sensor from the horizontal posture when the working device is set to the horizontal posture as a correction value, and at the time of control. With a control system that enables a control operation equivalent to the state in which the rolling sensor is mounted in a proper posture by adding or subtracting the correction value stored in the storage means to the measured value of the rolling sensor, It is provided with a writing means for storing the correction value in the storage means, and its operation is as follows.

[Operation] According to the first feature described above, it is possible to set the rolling posture of the working device arbitrarily by the forced rolling means and maintain the working posture in a rolling posture deviated from the horizontal posture. When in the rolling posture, it is possible to recognize that the working device is out of the horizontal posture by the operation of the display means.

According to the second feature, the working device is rolled to an arbitrary side by operating the first forcing switch or the second forcing switch, and the working device is brought into the rolling posture by the forcibly rolling means. It is possible to maintain the work device, and at the same time, by operating the horizontal switch, the control by the forced rolling means is released, and the rolling control for maintaining the work device in the horizontal posture becomes possible. That is, when the work device is tilted to one side, one of the first and second force switches is operated, and when it is tilted in the opposite direction, the other force switch is operated. Therefore, the operation is simple, and, for example, compared with the case where the potentiometer is operated, it is not unintentionally largely tilted.

According to the third feature, the display means has different display modes depending on whether the first forcing switch is operated or the second forcing switch is operated. Through this, the inclination direction of the working device can be determined.

According to the fourth feature, even when the working device is in the horizontal posture and the rolling sensor outputs the measurement result deviating from the horizontal posture, the deviation amount held in the storage means is added or subtracted. By doing so, it is possible to control to maintain the work posture in a horizontal posture, so not only does the posture of installing the rolling sensor need not be adjusted, but the posture of the rolling sensor with respect to the work device changes for the purpose of inspection, repair, etc. In this case, the rolling control using the rolling sensor is enabled by newly holding the correction value in the storage means via the writing means.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 that are steered.
The engine 4 is mounted on the front of the traveling body 3 provided with a belt-type continuously variable transmission V and the transmission case 5 to which power from the engine 4 is transmitted. Also, a driver seat 6 is provided at the center of the traveling body 3.
The lift cylinder 7 to the rear end of the traveling machine body 3.
A seedling planting device A as a working device is rotatably connected around a rolling axis X in a front-back direction to form a riding-type rice transplanter as a working device via a link mechanism 8 that is driven up and down by.

The plant A for planting seedlings A is a planting mechanism 10 for operating the mat-like seedlings W placed on the seedling placing table 9 in association with the traveling speed.
The seedless planting work is performed with the plurality of ground leveling floats 11 in contact with the ground, and the continuously variable transmission V is the output shaft of the engine 4 and the input of the mission case 5. The endless belt is wound around a split-pulley type pulley provided on each shaft, and the speed is changed by adjusting the winding radius of the endless belt with respect to each pulley (detailed structure is not described in detail).

An elevating lever 12 is arranged on the right side of the driver's seat 6, and the steering handle 1 in front of the driver's seat 6 is arranged.
The main shift lever 14 is disposed on the left side of the panel 3, and the panel surface 15
The auxiliary steering gear 1 is provided on the steering handle 1
A forced lifting lever 17 is provided on the right side surface of the post portion of No. 3.

As shown in FIG. 3, the elevating lever 12 electrically elevates and lowers the seedling planting device A and controls the planting clutch B incorporated in the mission case 5,
The seedling planting device A is lowered by setting it to the front side of the "descent" position in the path formed in the guide 18, and "ascended".
The rear side of the position raises the seedling planting device A, and when set to the "neutral" position, it cooperates with the control system so as to maintain the seedling planting device A at that level.
When 2 is set to the "ON" position, the planting clutch B is engaged and operated, and the automatic raising / lowering control for maintaining the predetermined height against the field is performed while the ground leveling float 11 provided in the seedling planting apparatus A is grounded. When linked to the control system and set to the "OFF" position, the planting clutch B is disengaged, and the lifting lever 12
Is set to the “automatic” position, the raising / lowering of the seedling planting device A is permitted according to the operation of the forced raising / lowering lever 17 and at the same time, the planting clutch B can be automatically disengaged when the seedling planting device A is raised. Further, a potentiometer type lift lever sensor 19 for measuring the operation position of the lift lever 12 is provided at the base end portion of the lift lever 12. The planting clutch B is configured to be turned on and off by the operation of an electric motor (not shown), and a planting clutch sensor 20 for determining the state of the planting clutch B is arranged in the vicinity.

The main speed change lever 14 is mechanically linked to a gear type speed change mechanism provided in the transmission case.
As shown in FIG. 1, a forward first speed F1 that is formed at a front position with reference to the neutral position N and that exhibits a low speed suitable for seedling planting work,
Further, the second forward speed F2, which is formed at the front position and exhibits a high speed suitable for traveling on the road, and the reverse position R, which is formed from the neutral position N to the rear position and reverses the vehicle body 3, are configured to be operable. , A neutral position sensor 2 for detecting the neutral position N
1 and a work sensor 2 that detects that the vehicle is in the forward first speed position
2 is provided. The auxiliary shift lever 16 electrically controls the continuously variable transmission V, and as shown in FIG. 5, it is possible to set the operation position between the lowest speed position L and the highest speed position H in a stepless manner. A potentiometer-type shift sensor 23 for measuring the operation position of the auxiliary shift lever 16 is provided at the base end thereof. Also, forced lift lever 1
Reference numeral 7 indicates a lever end that can be freely operated in the vertical direction based on the neutral posture N, and a raising position U for raising the seedling planting apparatus A to the upper limit and a descending position for lowering the seedling planting apparatus A to the working height. It is configured to be switchable to D and is biased by a spring (not shown) so as to maintain the neutral position N when not operated.

As shown in FIG. 4, the link mechanism 8 includes a pair of left and right top links 8T and a pair of left and right lower links 8.
L and a vertical link 8V connected to the rear ends of these links 8T and 8L.
Is supported swingably around the rolling axis X with respect to the lower end of the roller. In addition, a screw shaft 26 in a horizontal posture is rotatably supported by a frame 25 fixedly mounted on the upper surface of the vertical link 9V, and an electric rolling motor as an actuator that drives the screw shaft 26 to rotate forward and backward. By providing an operation spring 31 between a shift member 29 that integrally moves with a nut member 28 that is screwed to the screw shaft 26 and a vertical frame 30 on the seedling planting device side, the rolling motor 27 is driven. The rolling posture of the seedling planting device A is configured to be freely changeable. Further, a weight type rolling sensor 32 is provided on the side opposite to the seedling placing surface of the seedling placing table 9, and the rolling sensor 32 is configured to measure the hanging posture of the weight by a potentiometer type sensor.

A control box 33 is provided on the upper surface of the fender on the left side of the driver's seat 6, and an operating surface of the control box 33 is a horizontal switch for keeping the rolling posture of the seedling planting apparatus A horizontal as shown in FIG. 34,
The lower right switch 35 (an example of a first compulsory switch) that is changed to and maintains the downward right and the lower left switch 36 (an example of a second compulsory switch) that is changed and maintained to the downward left are provided. And a green light emitting diode 38 as the display means F at a position near the lower left switch 36.
And a yellow light emitting diode 39 that emits light when an abnormality occurs. Also, these switches 34, 35, 36
Has a small operation stroke that is operated via a waterproof resin film stretched over the operation surface.

As shown in FIG. 6, a rolling control system is constructed. In this control system, the neutral position sensor 21, the work sensor 22, the planted clutch sensor 20, and the ascending / descending function are provided to the control device 41 equipped with a microprocessor. A system for receiving signals from the lever sensor 19, the rolling sensor 32, the neutral switch 34, the lower right switch 35, and the lower left switch 36 is formed, and the solenoid valve 42 for controlling the lift cylinder 7 and the rolling motor 27 are controlled. Driver 43, the three light emitting diodes 37, 38, 3
An output system is formed for each of the nine, and an input / output system is formed for the memory 44, which is an EEPROM as a storage means. The control device 41 constitutes horizontal rolling means that enables rolling control for maintaining the seedling planting device A in a horizontal posture.

During the work, as shown in the flowchart of FIG. 7, the rolling control can be performed only when the working condition is satisfied and the signal from the rolling sensor 32 has a normal value (# 101, # 102). Step). That is, the working condition is that the main gear shift lever 14 is at the forward first speed position F1 based on the signal from the working sensor 22,
By determining that the planting clutch B is in the engaged state based on the signal from the planting clutch sensor 20, and the elevating lever 12 is in the lowered position or the automatic position based on the signal from the elevating lever sensor 19. If this condition is satisfied, based on the signal voltage from the rolling sensor 32, if the signal voltage value is within the proper range, the rolling control is started as follows. If the working condition is not satisfied, the manual rolling routine (# 2
If the signal voltage from the rolling sensor 32 is not within the proper range, the yellow light emitting diode 39 [LED (Y)] is turned on to let the operator recognize the occurrence of the abnormality (# step). 103 steps).

Next, when the lower right switch 35 is turned on, the rolling motor 27 is driven to the side in which the right side of the seedling planting apparatus A is in a downward posture, and at the same time, the red light emitting diode 37 [LED (R )] Is blinked, and the signal value measured by the rolling sensor 32 in the tilted posture is held in the memory 44 as a target value (#).
Steps 104 to # 107). Similarly, when the lower left switch 36 is turned on, the rolling motor 27 is driven to the side where the left side of the seedling planting device A is in a downward downward posture, and at the same time, the green light emitting diode 38 [LED
(G)] is blinked, and the signal value measured by the rolling sensor 32 in the tilted posture is held in the memory 44 as a target value (steps # 108 to # 111). In this control operation, when the lower right switch 35 or the lower left switch 36 is ON-operated, the rolling motor 27 is continuously driven for the operated time to arbitrarily set the rolling posture of the seedling planting apparatus A. The light emitting diode as the display means F blinks so that the operator can recognize that the seedling planting device is set in the rolling posture deviated from the horizontal posture in this way.

Next, when the horizontal switch 34 is turned on, a value preset so that the target posture of the rolling control of the seedling planting apparatus A becomes horizontal is held in the memory 44 as a target value. After the control target is set as described above, if the control target deviates from the horizontal posture to the lower right side, the red light emitting diode 37 [LED
(R)] is blinked and the green light emitting diode 37 [L
ED (G)] is flickered, and when the control target is set to be horizontal, no light emitting diode is operated and the value held in the memory 44 is set as the control target from the rolling sensor 32. The control operation is set so as to perform rolling control for feeding back a signal (steps # 112 to # 115).

Among the above control operations, steps # 104 to # 112 as control operations for changing the control target by changing the posture of the seedling planting apparatus A by switch operation, and #.
The forced rolling means E is constructed by combining 115 steps.

Further, the control in the manual rolling routine (# 200 step) functions when it is desired to arbitrarily change the rolling posture of the seedling planting apparatus A during non-working,
In this control, when the lower right switch 35 is turned on, the rolling motor 27 is driven to the side in which the right side of the seedling planting device A is in a downward posture, and the lower left switch 36 is O.
When the N operation is performed, the rolling motor 27 is driven to the side in which the left side of the seedling planting apparatus A is in the downward posture (steps # 201 to # 204). That is, in this routine, the rolling motor 27 is driven to change the posture of the seedling planting device A only when the switch is operated, and the light emitting diode is not operated during the posture change, and the work is performed as described above. When the condition is satisfied, the value held in the memory 44 is switched to the control having the control target.

Further, since the rolling sensor 32 is of a potentiometer type, the voltage value (ideal value) to be output by the rolling sensor 32 when the seedling planting apparatus A is in the horizontal posture is predetermined. However, in reality, the voltage value from the rolling sensor 32 deviates from the ideal voltage value even when the seedling planting apparatus A is in a horizontal posture due to an installation error or the like, and in the rolling control described above, this deviation amount ( (Correction value) is stored in the memory 44, and addition or subtraction is performed with respect to the signal from the rolling sensor 32 to enable control with the same accuracy as when the rolling sensor 32 is mounted in an ideal posture. It has been done. However, if this correction value is fixed, for example,
When the mounting posture of the rolling sensor 32 with respect to the seedling planting device A is changed, such as when the rolling sensor 32 is inspected or repaired, high-precision control cannot be performed. By performing the operation, the adjustment routine set in the control device 41 can be activated to change the correction value.

As shown in the flow chart of FIG. 9, the control operation of this adjustment routine is performed when a main switch (not shown) for starting the engine 4 is turned on and a predetermined starting condition is already satisfied. It is possible, and the operator is made aware of this by operating the light emitting diode. That is, the main shift lever 1 is used as the starting condition.
4 is in the neutral position N is detected by the neutral sensor 21,
The planting clutch sensor 20 detects that the planting clutch B is in the engaged state, and the lower right switch 35 and the lower left switch 3
Check that 6 and 6 are in the ON state at the same time.
When it is detected during the N operation, the control device 41 causes the red light emitting diode 37 [LED (R)] and the green light emitting diode 38 [LED (G)] to blink simultaneously in synchronization (# 301, # 302). Step).

When changing the correction value, the seedling planting device A is used.
It is necessary to maintain the rolling posture of the robot in the horizontal posture with the highest possible accuracy.
When is turned on, the control device 41 inputs a signal from the rolling sensor 32, compares it with the above-mentioned ideal value, performs subtraction to calculate a correction value, and as a result of the calculation, the correction value cannot be adjusted. Yellow LED 39 if value
[LED (Y)] is turned on to let an operator recognize that adjustment is not possible, and when the correction value is an adjustable value, a red light emitting diode 37 [LED (R)] and a green light emitting diode 38 [LED (G)] blinks alternately in a predetermined cycle, and then this cycle is shortened to let the operator recognize that it is in the standby state for adjustment (# 303 to #).
308 step).

Next, the lower right switch 35 and the lower left switch 3
Only when 6 and 6 are turned on at the same time, the control device 41
Recognizes to the operator that the red light emitting diode 37 [LED (R)] and the green light emitting diode 38 [LED (G)] blink at the same time in a synchronized state, and the operation of writing the correction value into the memory has started. After that, the correction value is written in the memory 44, and then the red light emitting diode 37 [LED
(R)] and green light emitting diode 38 [LED (G)]
It is possible to make the operator recognize that the writing has been completed by extending the synchronous blinking cycle with (# 309 to # 3).
12 steps). Note that the correction value is written in the memory 44 # 3
In 11 steps, the writing means D of claim 4 is constructed. In this step, since the correction value is written in a predetermined address of the memory 44, the previous data is erased and new data is overwritten.

As described above, according to the present invention, it is possible to control the seedling planting apparatus A to be maintained in the horizontal posture based on the signal from the rolling sensor 32 only during the seedling planting work, and the seedling planting apparatus can be operated by the switch operation. The rolling posture of A is changed as much as necessary, and the control for maintaining the changed rolling posture is made possible. Thus, the seedling planting device is changed to the rolling posture deviated from the horizontal posture by the switch operation. When A is set and when the control for maintaining the seedling planting apparatus A in a rolling posture deviating from the horizontal posture is being performed, the corresponding light emitting diode is activated and the control is different from the horizontal control. That is, the operator can recognize that the rolling posture of the seedling planting apparatus A can be arbitrarily set and maintained by a switch operation when the seedling planting work is not performed. It has become as. Further, when the mounting posture of the rolling sensor 32 with respect to the seedling planting apparatus A is changed, the correction value written in the memory 44 can be changed by performing a predetermined operation.

[Other Embodiments] In addition to the above-described embodiments, the present invention may be configured such that the display means is composed of a liquid crystal display and the operator recognizes the control state by characters. It is also possible to configure to operate in conjunction with a device that generates electronic sound in conjunction with the display.

[0033]

Therefore, the working machine which enables the rolling control for keeping the working apparatus in the posture deviated from the horizontal posture and allows the worker to recognize the control state through the display means is rational. (Claim 1).
In addition, the tilt direction of the work device can be
The tilted posture can be set arbitrarily, and the control for maintaining the work device in the horizontal posture can be switched by a simple operation (Claim 2), and the tilting direction of the work device can be changed due to the difference in the display form of the display means. Can be easily discriminated (Claim 3), and highly accurate rolling control can be performed by using the correction value without significantly increasing the mounting accuracy of the rolling sensor. The update enables highly precise rolling control (claim 4).

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

[Brief description of the drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a plan view of the control box.

FIG. 3 is a plan view of an operation path of a lifting lever.

FIG. 4 is a front view of a rolling drive system.

FIG. 5 is a side view showing the arrangement of the forced lifting lever.

FIG. 6 is a block circuit diagram of a control system.

FIG. 7 is a flowchart of an automatic rolling routine.

FIG. 8 is a flowchart of a manual rolling routine.

FIG. 9 is a flowchart of an adjustment routine.

[Explanation of symbols]

 3 Traveling Aircraft 27 Actuator 32 Rolling Sensor 34 Horizontal Switch 35 First Forced Switch 36 Second Forced Switch 41 Horizontal Rolling Means 44 Storage Means A Working Device D Writing Means E Forced Rolling Means F Display Means X Axis Core

Claims (4)

[Claims] 1. A working device (A) is rotatably connected to a traveling machine body (3) around an axis (X) in a front-back direction, and the working device (A) is connected to the working device (A). ) Is equipped with a rolling sensor (32) for measuring the rolling posture of the working device (A), an actuator (27) for determining the rolling posture of the working device (A), and the working device (A) measured by the rolling sensor (32). A working machine comprising a horizontal rolling means (41) for driving an actuator (27) so that a rolling posture is horizontal, the actuator (27) having priority over rolling control based on a measurement result of the rolling sensor (32). Is provided with a forced rolling means (E) for setting and maintaining the rolling posture of the working device (A). Working machine provided with a display means (F) which operates when setting the rolling posture of (A). 2. A horizontal switch (34) for causing the horizontal rolling means (41) to function, and the actuator (27) to drive the working device (A) to roll in a predetermined direction, and at the same time, the forced rolling means ( A first forcible switch (35) for operating E) and a first forcing the forcible rolling means (E) at the same time as driving the actuator (27) in a direction opposite to the rolling direction to roll the working device (A). 2 Force switch (3
6. The work machine according to claim 1, further comprising 6), wherein two types of control modes are selectable. 3. A state in which the forced rolling means (E) functions by operating the first forced switch (35) and a state in which the forced rolling means (E) functions by operating the second forced switch (36). The working machine according to claim 2, further comprising two kinds of display means (F) so that different display modes are provided. 4. A storage means (44) is provided for holding, as a correction value, an amount of deviation of the measurement result of the rolling sensor (32) from the horizontal posture when the working device (A) is set in the horizontal posture, and at the time of control. Rolling sensor (32)
A control system enabling a control operation equivalent to the state in which the rolling sensor (32) is mounted in an appropriate posture by adding or subtracting the correction value stored in the storage means (44) to the measured value And storage means (4
The working machine according to claim 1, further comprising a writing unit (D) for storing the correction value for 4).