JPH09149705A - Working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working machine for preventing a working device from rising and falling irrespective of the operation position of an operating tool, improved in operation safety, by equipping a restraining means for allowing lifting and lowering control of a working device only when a distinguishing means judges the operation tool to be in a neutral position when an engine is started. SOLUTION: This working machine is equipped with a distinguishing means 35 electrically judging the operation position of an operating tool 28 and a restraining means for allowing lifting and lowering control of a working device corresponding to the operation position of the operating tool after the judgment only when the distinguishing means 35 judges the operating tool 28 to be in a neutral position N in starting of an engine attached to a machine body. When the distinguishing means 35 judges whether the operating tool 28 to be a rising position U or a falling position D in the operation of the engine, the control action of the restraining means checks the lifting and lowering control. Afterward, only when the distinguishing means 35 judges the operating tool 28 to be driven to the neutral position N, the control action of the restraining means is preferably set to releases the checked state and to allow the lifting and lowering control of the working device corresponding to the operation position of the operating tool 28.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention raises a working device connected to a traveling body to a set height by driving an actuator by operating an operating tool urged to return to a neutral position to a raised position. Further, the working machine is provided with a control device that controls the working device connected to the traveling machine body to a set height by driving the actuator by freely operating the operating tool to the lowered position. The present invention relates to a technique for preventing a phenomenon in which a working device moves up and down against a worker's will.

[0002]

2. Description of the Related Art Conventionally, as a technique similar to the working machine constructed as described above, there is one disclosed in JP-A-61-152205. In this conventional example, the working device is lowered at the time of starting the engine. When control is performed, the descent control is blocked when the descent control is blocked and the working device is held in the neutral position, or when the working device is raised. The control action is set to release the block. In this conventional example, as described at the beginning, the work device is not moved up and down by operating the operation tool that returns to the neutral position.

[0003]

In the conventional example, for example,
Even when the engine is started without noticing that the operating tools were mistakenly operated when the engine was stopped, the working device was not lowered against the operator's will, and the working device was brought into contact with a projecting object on the ground. It does not cause inconvenience such as damage due to damage.

Further, in a work form such as a rice transplanter or a tractor in which the working device is frequently moved up and down at the time of working, as described at the beginning, the operating tool is urged so as to return to the neutral position. It is also considered that the control can be performed to raise the work device to a predetermined height away from the ground by the operation of, and to lower the work device to a predetermined height at which the work device can be operated by operating the operation tool to the lowered position. Even with such an operating tool, if the operating tool is erroneously operated at the time of starting the engine, the working device is greatly moved up and down, and there is room for improvement.

An object of the present invention is to reasonably construct a working machine that does not move the working device up and down when the engine is started regardless of the operating position of the operating tool.

[0006]

As described at the beginning, the first feature of the present invention is that it is connected to the traveling body by operating the operating tool which is urged to return to the neutral position to the raised position. A control device for controlling the work device, which is connected to the traveling machine body, to be lowered to a set height by driving the actuator by raising the work device to a set height by driving the actuator and freely operating the operating tool to a lowered position. In a working machine provided with, a determination means for electrically determining the operation position of the operation tool is provided, and only when the determination means determines that the operation tool is in the neutral position when the engine provided in the machine body is started. After this determination, a check means is provided for permitting the raising / lowering control of the work device corresponding to the operation position of the operation tool, and its operation is as follows.

A second feature of the present invention is that the operation of the restraint means is controlled by the operation tool in a raised position when the engine is operated.
Alternatively, when the determination means determines that it is in the lowered position, the lifting control is blocked, and thereafter, the blocking state is released only when the determination means determines that the operating tool has been operated to the neutral position. In addition, it is set to allow lifting control of the working device corresponding to the operation position of the operation tool,
The operation is as follows.

[Operation] According to the first feature, when the determining means determines that the operating tool is in the neutral position,
After starting the engine, the working device can be moved up and down in response to the operation of the operating tool.When the operating tool is in a position other than the neutral position when the engine is started, the restraint means prevents the working device from moving up and down. This avoids the phenomenon that the working device is moved up and down when the engine is started.

Further, according to the second feature, when the operating tool is in the ascending position or the descending position at the time of starting the engine, the discriminating means discriminates this state and the restraint means raises and lowers the working device. When the discriminating means discriminates that the operating tool has been operated to the neutral position after blocking the elevating and lowering, the restraining means releases the blocked state to raise and lower the working device in accordance with the operating position of the operating tool. It will be possible.

[0010]

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.
An engine 4 is mounted on the front part of a traveling machine body 3 including a vehicle, and a hydrostatic stepless transmission 5 for transmitting power from the engine 4 and a mission case 6 are arranged on the rear part of the traveling machine body 3. Further, the driver's seat 7 is arranged at the center of the traveling machine body 3, and the link mechanism 9 is driven up and down by the lift cylinder 8 as an actuator with respect to the rear end portion of the traveling machine body 3.
The seedling planting device A as a working device is connected to the rear end position so that the posture can be freely changed around the rolling axis X in the front-back direction,
Further, line markers 10 are provided on both sides of the front part of the traveling machine body 3 to form a rice transplanter as a working machine.

The seedling planting device A cuts out the mat-shaped seedling W placed on the seedling placing table 11 by a planting arm 13 provided in a rotary case 12 which rotates in synchronization with the traveling speed of the machine body, and cuts a field scene S. In addition to having a system for performing an operation of planting in a row, a plurality of leveled floats 14 are provided in the lower portion for eight-row planting, and at the rear position of the seedling planting apparatus A in synchronization with the seedling planting operation. Fertilizer application device B that supplies fertilizer below S
It has. In addition, the line marker 10 is configured to be switchable between an operation posture in which the tip of the line marker 10 falls down into a posture in which it enters the field scene S to form a groove in the field scene S and a non-action in which it is separated upward from the field scene S. There is. The line marker 10 in the working posture is switched to the non-working posture in conjunction with the raising operation of the seedling planting apparatus A up to the raising limit (the operating system is not described in detail).

As shown in FIG. 4, a plurality of leveling floats 1
4 is swingably supported around the lateral axis Y formed at the rear position on the side of the seedling planting device A, and of these, the leveling float at the center position in the left-right direction (hereinafter referred to as the center float 1).
4C) is swingably supported around the axis Y with respect to the swing end of the arm-shaped member 16 formed integrally with the planting depth adjusting shaft 15, and its front portion is directed downward. A spring 17 for setting a sensing pressure for urging the float 14C is provided by linking an arm 18 swinging integrally with the center float 14C and an operating arm 19A of the float sensor 19 via a rod 20. The rocking posture can be measured by the float sensor 19. Further, when the planting depth adjusting shaft 15 is rotated, the position of the spring receiving side is maintained so that the biasing force of the spring 17 for setting the sensing pressure is maintained, and the posture of the float 14C is set to the float sensor 1.
A correction link 21 is provided to correct the posture of the case of the float sensor 19 around the axis of the operation arm 19A of the float sensor 19 so that the float sensor 19 can be accurately detected. Further, the float sensor 14C controls the height of the seedling planting apparatus A relative to the field scene S during control for automatically raising and lowering the seedling planting apparatus A in accordance with the height change of the field scene S (hereinafter, referred to as automatic lifting control). It has the function of feeding back to the control system.

As shown in FIGS. 1, 2 and 5, the raising / lowering control of the seedling planting device A and the on / off operation of the planting clutch C built in the mission case 6 are performed on the right side of the driver's seat 7. A lift lever 24 is provided, and a main shift lever 26 that shifts the continuously variable transmission 5 is provided on the left side of the steering handle 25 at the front position of the driver's seat 7.
On the left side of the driver's seat 7, there is provided an auxiliary shift lever 27 for shifting the gear shift system inside the mission case 6,
On the right side of the post portion of the steering handle 25, a switching lever 28 (an example of an operating tool) for forcibly moving the seedling planting apparatus A up and down and switching the line marker 10 to the working posture.
An accelerator lever 30 for setting the rotation speed of the engine 4 is provided on the right side of the panel unit 29.

As shown in FIG. 10, the elevating lever 24 is configured to be operable along a path formed in the guide 31, and when the elevating lever 24 is set to the front side of the "down" position in the path, the seedlings are set. When the planting device A is lowered and is set to the rear side from the "up" position, the seedling planting device A is raised,
When set to the "neutral" position, the seedling planting apparatus A is maintained at that level, and when the lifting lever 10 is set to the "ON" position, the planting clutch C is engaged and operated, and the seedling planting apparatus A is operated.
The center float 14C provided on the ground can be automatically lifted and lowered to maintain a predetermined height against the field while being grounded.
When set to the position, disengage and operate the planting clutch C,
When the raising / lowering lever 24 is set to the "automatic" position, the raising / lowering of the seedling planting device A is allowed according to the operation of the switching lever 28, and at the same time, the planting clutch C can be automatically disengaged when the seedling planting device A is raised. In addition, a potentiometer type lift lever sensor 32 for detecting the operating position of the lever 24 is provided at the base end portion thereof.

As shown in FIGS. 2 and 6, the main speed change lever 26 is configured to be steplessly operable between the forward drive position F and the reverse drive position R with the neutral position N interposed therebetween. A potentiometer-type main shift lever sensor 33 for measuring the operation position is provided at the base end of the. Further, as shown in FIG. 2, the auxiliary transmission lever 27 has a "planting" position on the rear side for obtaining a low traveling speed suitable for seedling planting work and a high speed for traveling on the road on the front side. "Movement" to get running speed
This auxiliary shift lever 2 is configured to be freely switchable between the position and the position.
The auxiliary shift switch 34 is provided for detecting that the 7 has been operated to the "planted" position. Further, as shown in FIG. 5, the switching lever 28 is urged by a spring (not shown) to return to a neutral position N in a substantially horizontal posture, and the neutral position N
Ascended position U with its end displaced upwards with reference to
And a lowered position D in which the end portion is displaced downward,
The switch lever 28 is configured so as to be operable between a right marker operation position R whose end is displaced rearward and a left marker operation position L whose end is displaced forward based on the lowered position D. After operating the descending position D to lower the seedling planting apparatus A to the working height, the switching lever 28 is again moved to the descending position D.
When it is operated to, the planted clutch C is operated to be operated, and the proximal end portion is operated to the ascending changeover lever switch 35 and the descending position D for detecting the operation to the ascending position U. And a lowering changeover lever switch 35 for detecting the fact (this switch 35 constitutes a discriminating means). A switch for detecting that the lever is operated to the left and right marker operating positions L and R is provided at the base end portion of the switching lever 28, but it is not shown. As shown in the figure, the accelerator lever 30 is configured so that it can be operated steplessly between a high speed limit position Max and a low speed limit position Min, and its proximal end portion has a potentiometer-type accelerator sensor for measuring the operation position. Equipped with 36.

As shown in FIG. 6, the dial 3 is provided on the left side of the panel unit 29 so as to set the control sensitivity of the automatic lifting control.
A potentiometer-type control sensitivity setting device 39 that is rotated by 9A is provided, a vehicle speed control switch 40 that is pushed by a knob 40A is provided at the lower left position, and a key (not shown) is provided at the lower right position. And a key switch 38 for rotating the engine 4 to start the engine 4 and energize the electric circuit,
A display portion is formed at the central position. As shown in FIG. 8, the control sensitivity setting device 39 is configured to be freely operable in seven positions of "1" to "7", and as it is operated toward the smaller number side, the center float around the axis Y is increased. The target posture of 14C is changed to the front lowering side to reduce the biasing force of the spring 17 for setting the sensing pressure, and the automatic raising / lowering control with high sensitivity is performed with low sensing pressure. The target posture of the center float 14C around the axis Y is changed to the front rising side to increase the biasing force of the spring 17 for setting the sensing pressure, and to perform automatic raising / lowering control with high sensitivity and low sensitivity. .

On the display unit, as shown in FIGS.
The fuel meter 41 for displaying the remaining amount of fuel at the position of the pointer and the buzzer 42 are provided, and the rotation speed display mechanism 43 for indicating the rotation speed of the engine 4 from the number of lights of the five lamps 43A, and the fertilizer application device B. The “fertilizer run out” lamp 44 that lights up when the remaining amount of fertilizer is low, the “seedling run out” lamp 45 that lights up when the remaining amount of the mat-like seedlings W placed on the seedling placing table 11 is low, and the seedling planting device A An "Azegiwa" lamp 46 that lights up when the respective clutches (not shown) for reducing the number of planting actuating threads are turned off, and a "planting" lamp that lights up when the planting clutch C is in the disengaged state. 47, and a marker lamp 48 that lights one of the pair of left and right ones when the line marker 10 is in the working posture, and lights the one in the central position when none of the line markers 10 is in the working posture. Prepare There. Also, an "auto" lamp 49 that lights up when the lift lever 24 is in the "auto" position.
And the seedling planting device A is at the working height, and the sub-shift lever 27
Is in the "planted" position, the main speed change lever 26 is in the forward drive range or the reverse drive range, and the link mechanism 9 is in a posture other than the upper limit and in a state where automatic rolling control is possible, a "rolling" lamp that lights up. 50 and vehicle speed control switch 4
When the accelerator lever 30 is set so that the engine speed is 2000 rpm or more with 0 being the ON state and the soft cruise is possible, the "cruise" lamp 51 and the vehicle speed control switch 40 are in the ON state. And the "automatic deceleration" lamp 52 that lights up when the planting clutch C reaches the disengaged state and the traveling speed is automatically reduced when the seedling planting device A is raised to the upper limit by the operation of Further, a liquid crystal display 53 capable of displaying four-digit numbers and alphabets is provided at the lower position of these. The respective control operations will be described later.

As shown in FIG. 9, a dial 57 is provided on the surface of the control box 56 provided on the right side of the driver's seat 7.
Panel display switch 57 operated by A and dial 5
Rolling angle setter 58 set by 8A and knob 59
A rolling switch 59 operated by A is provided.

As shown in FIG. 2, a transmission system for transmitting the power from the engine 4 to the continuously variable transmission 5 through the main clutch D and the transmission shaft 60 is formed, and the continuously variable transmission 5 is formed. The mission case 6 is connected to the rear surface of the
A transmission system for transmitting the shift power from the transmission case 6 to the differential case portion 61 for the rear wheel 2 is formed, and the transmission power for traveling is transmitted to the differential case 63 of the front wheel 1 via the intermediate transmission shaft 62. The system is formed. Further, a rotation speed sensor 64 for measuring the rotation speed of the engine 4 is provided near the output shaft of the engine 4, and the main clutch D is disengaged by depressing the main clutch pedal 65 provided in the step, thereby depressing the depressing force. Main clutch switches 66, 66 for detecting engagement and disengagement are provided so as to return to the engaged state when released, and to determine the state of the main clutch D from the operating position of the main clutch pedal 65. .

Further, a gearshift arm 67A of a trunnion shaft 67 for gearshift operation of the continuously variable transmission 5 and an electric gearshift motor 6 are provided.
8 are interlocked with each other via the sector gear 85 and the operating rod 86, and the continuously variable transmission 5
Is equipped with a potentiometer type shift sensor 69 for measuring the shift state, and the planted clutch C is configured such that it can be freely turned on and off by an electric clutch motor 70, and is in a vicinity position for detecting a state and for detecting a cut state. The link mechanism 9 includes clutch switches 71, 71, and the link mechanism 9 is composed of an upper top link 9T and a lower lower link 9L, and a potentiometer for measuring the height of the seedling planting apparatus A from the swinging posture of the top link 9T. A mold type link sensor 80 is provided at the base end.

As shown in FIG. 4, a vertical link 9V connecting the rear end of the top link 9T and the rear end of the lower link 9L.
The seedling planting device A is rotatably supported around the axis X with respect to the support portion formed at the lower end of the screw, and is rotatably supported by the frame 72 at the upper position of the vertical link 9V. An electric rolling motor 74 that drives the shaft 73 in the forward and reverse directions is provided, and a nut member 75 that is screwed into the screw shaft 73, and a vertical frame 76 that is arranged on the side opposite to the seedling mounting surface of the seedling planting apparatus A. An operation rod 77 and an operation spring 78 are interposed between the nut members 75 to move the nut member 75 in the left-right direction so that the seedling planting device A can be rolled. Further, a rolling sensor 79 having a potentiometer for measuring the posture of the weight is provided so as to detect the rolling posture of the seedling planting apparatus A around the axis X.

As shown in FIG. 1, a control unit 8 provided with a microprocessor (not shown) below the driver's seat 7.
1 is arranged, and the control system of this control device 81 is shown in FIG.
In this control system, an input system to which signals from the switches and the sensors are input is formed in the control device 81, and the lift cylinder 8 is formed.
Of the electromagnetic type up-and-down valve 82, the clutch motor 70, the rolling motor 74, and the shift motor 6
8. An output system for the panel display system is formed, and
EEPROM type memory 8 for holding correction values of sensors
An input / output system for 3 is formed, and the control operation will be described below.

As shown in FIG. 12, a main control operation is set. In this control operation, after the key switch 38 is turned on, initialization is performed (step # 01), and then a forced lifting routine (step # 100). , Manual lifting routine (# 200 step), Automatic lifting routine (# 200)
300 step), backup routine (# 400 step), manual speed change routine (# 500 step), automatic deceleration routine (# 600 step), soft start routine (# 700 step), soft cruise routine (# 800 step), rolling control routine(#
900 steps) Until each control is reset (#
(02 steps) It is designed to be repeated.

As shown in the flowchart of FIG. 13, the operation of the forced lift routine (# 100 step) is to judge the flag when the lift lever 24 is in the "automatic" position based on the signal from the lift lever sensor 32. If the flag is "0", it means that the engine 4 has just been started, and therefore the position of the switching lever 28 is determined based on a signal from the switching lever switch 35 for raising and lowering to set the neutral position N. After rewriting the flag to "1" only in some cases,
The position of the switching lever 28 is determined to enable the seedling planting device A to be forcibly moved up and down (steps # 101 to # 104). Further, in this processing, when the flag is "0" and the switching lever 28 is not in the neutral position N, that is, in the raised position U or the lowered position D, the O of the key switch 38 is turned on.
Simultaneously with the N operation, the raising / lowering operation is prevented for the purpose of avoiding the phenomenon of raising the seedling planting apparatus A to the upper limit or lowering it to the working height against the operator's intention. The switching lever 28 is in the neutral position N.
In the case of the above, the restraining means E is constituted by steps # 102 to # 104 that enable the raising / lowering of the seedling planting device A by the switching lever 28. In the restraint means E, the lifting lever 24 is not set to the "automatic" position when the engine 4 is started, and when the lifting lever 24 is set to the "automatic" position for the purpose of lifting up and down by the switching lever 28, Even when the switching lever 28 is in the raised position U or the lowered position D, it has a function of avoiding an ascending / descending operation contrary to the operator's intention.

Next, when the flag is in the state of "1", when the switching lever 28 is operated to the raised position U, the seedling planting device A is not at the upper limit based on the signal from the link sensor 80. The clutch motor 70 is operated to disengage the planting clutch C, and the raising / lowering valve 82 is operated to raise the seedling planting apparatus A to the upper limit (# 105- #).
108 step), and when the switching lever 28 is operated to the lowered position D, the raising / lowering valve 82 is operated to plant the seedling planting apparatus A based on the signal from the float sensor 19 until the working height reaches the working height. The device A is continuously lowered, and when the working height has already been reached, the clutch motor 70 is driven to engage and operate the planting clutch C (# 109).
~ # 112 steps). The working height is the seedling planting device A
Is in the upper limit, the center float 14C is in contact with the signal value of the float sensor 19 and the value of the float sensor 19 has changed more than a predetermined value.

As shown in the flowchart of FIG. 14, the operation of the manual elevating / lowering routine (# 200 step) is performed when the signal from the elevating lever sensor 32 determines that the elevating lever 24 is in the "ON" position. Switch 71
The clutch C is operated by the clutch motor 70 only when the clutch C is in the disengaged state based on the signal from (steps # 201 to # 203).
When it is not at the working height based on the signal from 9, the raising / lowering valve 82 is operated until the seedling planting apparatus A reaches the working height and the seedling planting apparatus A is lowered (steps # 204, # 205). .

Next, when it is determined that the lift lever 24 is in the "down" position based on the signal from the lift lever sensor 32, the clutch C is in the engaged state based on the signal from the clutch switch 71. The clutch motor 70 disengages the clutch C only (# 206 to # 208).
Step), and thereafter the float sensor 1
When it is not at the working height based on the signal from 9, the raising / lowering valve 82 is operated until the seedling planting apparatus A reaches the working height and the seedling planting apparatus A is lowered (steps # 204, # 205). .

Next, when it is determined that the lift lever 24 is in the "neutral" position by the signal from the lift lever sensor 32, when the clutch C is in the engaged state based on the signal from the clutch switch 71. The clutch motor 70 disengages the clutch C only (# 209 to # 211).
Step) and other controls are not performed.

Next, when it is determined that the lift lever 24 is in the "raised" position by the signal from the lift lever sensor 32, the clutch C is in the engaged state based on the signal from the clutch switch 71. The clutch motor 70 disengages the clutch C only (# 212 to # 214).
If the seedling planting device A is not at the upper limit based on the signal from the link sensor 80, the raising / lowering valve 82 is operated to raise the seedling planting device A to the upper limit (# 215, #). 216 steps).

The operation of the automatic raising / lowering routine (# 300 step) is possible when it is determined that the seedling planting apparatus A is at the working height based on the signal from the float sensor 19, as shown in the flowchart of FIG. If possible, the control operation is performed when the attitude of the center float 14C measured by the float sensor 19 exists within the dead zone set based on the target attitude set by the control sensitivity setting unit 39. Do not perform, center float 14 outside the dead zone
When the posture of C exists, the lowering operation is performed based on the posture of the center float 14C, and when the posture of the float 14C of the center moves forward, the float 14C of the center moves.
When the posture of C is raised forward, a control operation is performed to perform a raising operation (steps # 301 to # 307).

During this raising / lowering operation, the larger the deviation is, that is, the greater the distance of the center float 14C from the dead zone, the higher the duty ratio of the PWM-controlled control current for raising and lowering the seedling planting apparatus A. Is adjusted to adjust the current supplied to the lift valve 82 to increase the opening of the control valve 82.

The operation of the backup routine (# 400 step) is, as shown in the flowchart of FIG. 16, that the elevating lever 24 is judged to be in the "automatic" position on the basis of the signal from the elevating lever sensor 32, and the main shift is performed. When it is determined that the main shift lever 26 has been operated to the reverse position R based on the signal from the lever sensor 33, the link sensor 8
When the seedling planting device A is not at the upper limit based on the signal from 0, the raising / lowering valve 82 is operated to raise the seedling planting device A to the upper limit (steps # 401 to # 407). When the aircraft 3 moves backward, the buzzer 4 will
Activate 2

As shown in the flow chart of FIG. 17, the operation of the manual speed change routine (# 500 step) is performed when the engine speed is 700 rpm or more and the main clutch is in the engaged state. Number sensor 6
4 and the signal from the main clutch switch 66, and it is possible when it is determined that the vehicle speed control switch 40 is in the OFF state (# 501, # 502 steps), and when it is possible, Based on the signal from the main shift lever sensor 33, the buzzer 42 is activated when the main shift lever 26 is in the reverse position R, and the buzzer 42 is not activated when the main shift lever 26 is in a position other than the reverse position R (# 503-
(Step # 506), by feeding back the signal from the shift sensor 69, the shift motor 68 is driven to operate the continuously variable transmission 5 so that the traveling speed corresponding to the operation position of the main shift lever 26 is obtained. (# 50
7, Step # 508).

The operation of the automatic deceleration routine (# 600 step) is, as shown in the flowchart of FIG. 18, that the engine speed is 700 rpm or more as the operating condition, and the main speed change lever 26 is at the forward position F or This is possible when it is determined that the vehicle is in the reverse position R based on the signals from the rotation speed sensor 64 and the main shift lever sensor 33, and it is determined that the vehicle speed control switch 40 is in the ON state (# 601, # 602). Step), if it is possible, when it is determined that the planted clutch C is in the disengaged state based on the signal from the clutch switch 71, the automatic deceleration lamp 52 is turned on and the traveling speed reaches the deceleration target. Continuously variable transmission 5 by driving the transmission motor 68 to
Is decelerated (steps # 603 to # 606).

Next, when it is determined that the automatic deceleration operation is possible and the planted clutch C is in the on state based on the signal from the clutch switch 71, the automatic deceleration lamp 52 is turned off and the traveling speed is changed. The speed change motor 68 is driven until the speed set by the main speed change lever 26 is reached to speed up the continuously variable transmission 5 (# 607 to # 610).
Steps). This control operation automatically reduces the traveling speed in conjunction with the disengagement operation of the planting clutch C when the seedling planting device A is raised by operating the switching lever 28 to the raised position U. After the deceleration, the switching lever 28 is operated to the descending position D, the seedling planting apparatus A descends at the working height, and the manipulating plant A is operated to the descending position D again to plant the planting operation. As soon as the clutch C reaches the engaged state, the speedup is started and restored to the traveling speed set by the main speed change lever 26 so that the work can be performed without difficulty.

The operation of the soft start routine (# 700 step) is, as shown in the flowchart of FIG. 19, that the engine speed is 700 rpm or more as the operating condition, and the main transmission lever 26 is at the forward position F or ,
It is possible to determine that the vehicle is in the reverse position R based on the signals from the rotation speed sensor 64 and the main speed change lever sensor 33 (step # 701). When it is possible, the signal from the main clutch switch 66 is sent. If it is determined that the main clutch D has reached the disengaged state based on the above, the continuously variable transmission 5 is decelerated by driving the variable speed motor 68 until the traveling speed reaches the deceleration target (# 702 to # 704).
Step), and when it is determined that the main clutch D has reached the engaged state based on the signal from the main clutch switch 66, the transmission motor 68 is operated until the traveling speed reaches the speed set by the main transmission lever 26. Is operated to accelerate the continuously variable transmission 5 (steps # 705 to # 707).

This control operation is performed by, for example, the auxiliary transmission lever 2
When the main clutch D is disengaged when operating 7, the main deceleration lever 26 is set to a relatively high speed position when the main deceleration lever 26 is decelerated and the sub gear shifting lever 27 completes the shifting operation and the main clutch D is engaged. Even in the state where the vehicle is running, it is possible to start traveling without generating shock.

The operation of the soft cruise routine (# 800 step) is, as shown in the flowchart of FIG. 20, that the engine speed is 700 rpm or more as the operating condition, and the main transmission lever 26 is at the forward position F or ,
It is in the reverse position R and the accelerator lever 30 is set to position 2.
It is possible to determine that the speed is 000 rpm or more based on the signals from the rotation speed sensor 64, the main shift lever sensor 33, and the accelerator sensor 36 (step # 801), and the vehicle speed control switch 40 is set to the ON state. In this state, the set value (As) and the rotation speed (As) are calculated from the set value (As) of the accelerator lever 30 based on the signal from the accelerator sensor 36 and the engine speed (Er) based on the signal from the rotation speed sensor 64. The difference (D) from Er) is obtained, and when the difference (D) is larger than 1000, the variable speed motor 68 is driven until the traveling speed reaches the minimum speed, and the continuously variable transmission 5
When the difference (D) is less than 500, the variable speed motor 68 is driven to increase the speed of the continuously variable transmission 5 until the traveling speed reaches the speed set by the main speed change lever 26. If the condition is not satisfied, the gear shifting operation is not performed (steps # 802 to # 807). Since the rice transplanter travels in a highly viscous field, the load on the engine 4 is likely to fluctuate, and when the engine speed drops significantly, the load on the engine 4 is reduced by reducing the running speed in this way. The engine stop is avoided, and when the load is reduced, the rotational speed of the engine 4 is restored so that the work efficiency is not reduced.

As shown in the flowchart of FIG. 21, the operation of the rolling control routine (# 900 step) can be performed only when the signal from the rolling sensor 79 is in the normal range, and if possible, the rolling switch 59. When is operated, the rolling motor 74 is driven for the operation time toward the operated side to tilt the seedling planting apparatus A to the side where the switch 59 is operated (# 9
01- # 904 steps), as a condition for operating the automatic rolling, the main speed change lever 26 is in the forward drive position F or the reverse drive position R, the auxiliary speed change lever 27 is in the "planting" position, and the seedling planting is performed. It is determined that the device A is at the working height based on the signals from the main gear shift lever sensor 33, the sub gear shift lever sensor 34, and the float sensor 19, and the automatic rolling control can be performed only when the conditions are satisfied. If possible, if the rolling posture of the seedling planting apparatus A to be measured by the rolling sensor 79 exists outside the dead zone set based on the target rolling posture set by the rolling setter 58, the control operation is performed. If the seedling planting apparatus A is not within the dead zone and is within the dead zone, control is performed to drive the rolling motor 74 so that the seedling planting apparatus A moves toward the target posture. That (# 905～ # 909 steps).

In this control system, the panel display switch 5
When 7 is set to the "engine rotation" position shown in FIG. 9, the current engine rotation speed is displayed on the liquid crystal display 53 based on the signal from the rotation speed sensor 64, and when it is set to the "hour meter" position. Displays the integrated value of the operating time of the rice transplanter measured by a timer (not shown) (each control operation is not described in detail). Further, when the panel display switch 57 is set to the "self-diagnosis" position, the states of a plurality of potentiometer type sensors can be discriminated and the correction values written in the memory 83 can be rewritten. The control operation will be described below.

As shown in the flow chart of FIG. 22, this control operation is set to 10 seconds after the key switch 38 is turned on with the panel display switch 57 set in advance to the "self-diagnosis" position shown in FIG. It becomes possible by holding the rolling angle setter 58 at the lower left position, the horizontal position and the lower right position for each set time within the predetermined time, and at the same time displaying the value of “CH01” on the liquid crystal display 53. All the lamps 43A of the rotation speed display mechanism 43 are blinked to be recognized (# 1001 to # 1003).
Steps).

Next, the control sensitivity setting unit 39 selects the sensor to be discriminated. This selection is "1" as shown in FIG.
Corresponds to the rolling sensor 79, “2” corresponds to the float sensor 19, “3” corresponds to the main shift lever sensor 33, “4” corresponds to the shift sensor 69, and “5” corresponds to the link sensor 80. "6" corresponds to the accelerator sensor 36
When a sensor is selected by the control sensitivity setting unit 39, the correction value of the selected sensor is displayed on the liquid crystal display 53 (steps # 1004 and # 1005). Further, for example, when the correction value of the rolling sensor 79 is rewritten, the rolling posture of the seedling planting apparatus A is set to horizontal in advance, and the rolling switch 59 is set to “lower left” after performing the above-mentioned operation. By operating the "lower right" side, the correction value is written in the memory 83, the character "PASS" is displayed on the liquid crystal display 53, and the operator is made aware that the writing of the correction value is completed. (Steps # 1006 to # 1008). This correction value can be freely selected by operating the control sensitivity setting device 39 until the key switch 38 is turned off (step # 1009).

[0043]

Therefore, a working machine is constructed rationally which does not raise or lower the working device regardless of the position of the operating tool when the engine is started regardless of the operating position of the operating tool (claim 1). Further, even if the raising / lowering control is restrained at the time of starting the engine, in order to cancel the restraining state, the operation tool is operated to the neutral position where the working device is not raised / lowered. ).

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 by the entry.

[Brief description of the drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a side view showing the outline of the transmission system of the rice transplanter.

FIG. 3 is a side view showing the arrangement of float sensors.

FIG. 4 is a front view showing a low link structure of the seedling planting device.

FIG. 5 is a side view showing a member arrangement in the vicinity of a steering handle.

FIG. 6 is a plan view of a panel section.

FIG. 7 is an enlarged plan view of a display unit.

FIG. 8 is an enlarged plan view showing an operation positional relationship of the control sensitivity setting device.

FIG. 9 is a plan view of the control box.

FIG. 10 is a plan view of the operation path of the lifting lever.

FIG. 11 is a block circuit diagram of a control system.

FIG. 12 is a flowchart showing a main control operation.

FIG. 13 is a flowchart of a forced lifting routine.

FIG. 14 is a flowchart of a manual lifting routine.

FIG. 15 is a flowchart of an automatic lifting routine.

FIG. 16 is a flowchart of a backup routine.

FIG. 17 is a flowchart of a manual shift routine.

FIG. 18 is a flowchart of an automatic deceleration routine.

FIG. 19 is a flowchart of a soft start routine.

FIG. 20 is a flowchart of a soft cruise routine.

FIG. 21 is a flowchart of a rolling control routine.

FIG. 22 is a flowchart of a self-diagnosis control operation.

[Explanation of symbols]

 3 Traveling Vehicle 4 Engine 8 Actuator 28 Operation Tool 35 Discriminating Means 81 Control Device A Working Device E Checking Device D Lowering Position N Neutral Position U Ascending Position

Claims (2)

[Claims] 1. An actuator for operating a working device (A) connected to a traveling body (3) by operating an operating tool (28) biased to return to a neutral position (N) to a raised position (U). The work device (A) connected to the traveling machine body (3) is lifted to a set height by driving (8), and the operating tool (28) is freely operated to the lowered position (D) to move the work device (A) to the actuator (8). ) Is a working machine including a control device (81) for lowering the height to a set height, the machine including a determination means (35) for electrically determining the operation position of the operation tool (28). Only when the determining means (35) determines that the operating tool is in the neutral position (N) at the time of starting the engine (4) provided for the vehicle, the operating position of the operating tool (28) is corresponded after this determination. A restraint means (E) that allows up-and-down control of the work device (A) Working machine is equipped with a. 2. The control means of the restraining means (E), the determining means (3) that the operating tool is in the raised position (U) or the lowered position (D) when the engine (4) is operating.
When 5) determines, the lifting control is blocked, and thereafter, the blocking state is released only when the determination means (35) determines that the operating tool (28) has been operated to the neutral position (N). It is set so as to allow up-and-down control of the working device (A) corresponding to the operating position of the operating tool (28).
The work machine described.