KR100460649B1 - Paddy field working machine - Google Patents

Abstract

In a non-non-working apparatus such as a rice transplanter, a lifting device configured to operate and control a single-acting hydraulic cylinder for driving up / down the non-non-working apparatus connected to the rear of the machine main body is provided as a simple and low-cost hydraulic circuit structure. . In order to achieve this object, a pilot check valve 29 is interposed in the pressure oil supply / discharge flow path b communicated with the hydraulic cylinder 6. When the main spool 23 is in the neutral position, the pressure oil supply flow passage a and the pressure oil supply / discharge flow passage b are blocked, and the pilot flow passage d for opening the circuit of the pilot check valve 29 is the main spool. It communicates with a tank via 23. This pressure oil supply flow path a communicates with a tank via the pressure compensation valve 33 closed-closed by the spring 32. The circuit opening pilot flow path f of the pressure compensation valve 33 is connected to the pressure oil supply flow path a. The circuit closing pilot flow path e of the pressure compensation valve 33 is connected to the pressure oil supply / discharge flow path b and the pilot flow check valve 29 of the pilot check valve 29 via a shuttle valve 31. have.

Description

Munon work machine {PADDY FIELD WORKING MACHINE}

The present invention relates to a paddy field working machine, such as a rice planter. More specifically, the present invention is a Munon work machine having a rider body and a Munon work device connected to a rear portion of the rider body, and a lifting mechanism of the lifting machine (a lifting mechanism) provides the Munnon work device to the rider body. It is related with the single acting hydraulic cylinder which drives up and down, and the electromagnetic control valve which controls the operation of this hydraulic cylinder.

As a lifting device of a rice transplanter, which is a representative Munon work machine, for example, as disclosed in Japanese Patent No. 3324535 (or Japanese Patent Application Laid-open No. Hei 8-84514, hereinafter referred to as the first conventional technology). And configured to operate the hydraulic cylinder by telescopic operation by switching the elevating switching valve connected to the elevating hydraulic cylinder to the forward or reverse direction by the pilot pressure from the electromagnetic proportional pressure reducing valve, and to stabilize the flow rate during the raising operation. It is known to have a structure in which a pressure compensation valve is connected to the primary side of the lifting switching valve.

Further, when the work device is connected to the rear portion of the main body of the moving machine so as to drive up and down as the lifter of the rice transplanter, and the operation tool of the neutral return type is operated from the neutral position to the automatic lift operation position, the work device is a predetermined upper limit. When the operation tool automatically ascends to the position and the operation tool is operated from the neutral position to the automatic descending operation position, the work device may be configured to automatically descend to a predetermined work height position. For example, as disclosed in Japanese Laid-Open Patent Publication No. 2001-275415 (hereinafter referred to as a second prior art), a manual lift operation position between the neutral position and the auto lift operation position, and also the neutral position and the automatic Manual lifting operation in which the work device raises only while a manual lower operation position is provided between the lower operation positions and the operating tool is operated at the manual raising operation position, and the working device only while the operating tool is operated at the manual lower operation position. There is a structure configured to perform a manual descent operation for descending. In addition, as another conventional technique, for example, as disclosed in Japanese Unexamined Patent Application Publication No. 9-294426 (hereinafter referred to as a third conventional technique), any one of the automatic raising operation position and the automatic lowering operation position of the operating tool. Some devices were equipped with a notification device for generating a notification sound with the arrival of one. Moreover, in this prior art, when a 2nd operation to the operation position is performed after operating an operation tool from a neutral position to an automatic lowering operation position, it is comprised so that a work device may be switched to an operation state.

Moreover, as a lifting device of a rice transplanter, for example, as described in Unexamined-Japanese-Patent No. 11-89341 (henceforth a 4th prior art), the lifting means of a seedling apparatus is controlled by a control means. It is also known to provide a backup control means for forcibly elevating the seedling device when the traveling transmission device is operated in the reverse position.

In the first prior art, the lift switching valve is configured to a specification in which the primary side and the secondary side are in communication with each other, and the total amount of the pressure oil supplied to the primary side is discharged to the tank side via the lift switching valve. It was necessary to form and process the flow path which communicates a primary side and a secondary side, and communicates a pressure oil supply flow path and a discharge port of a primary side to the neutral position of the main spool of a switching valve, and spool processing cost was expensive.

Accordingly, a first object of the present invention is to provide a lifting device of a non-working machine, which is configured to operate and control a single-acting hydraulic cylinder driving and lifting a non-working device, by using an electronic control valve, as a simple and inexpensive hydraulic circuit structure.

Further, according to the second prior art, an automatic elevating operation for automatically elevating the working device to a predetermined upper limit position or a predetermined working height position by operation of the operating tool, and a manual elevating operation for manually elevating the working device to an arbitrary height position. It has the advantage that it can do. However, in this prior art configuration, the driver inadvertently operates an intention of carrying out a manual lifting operation of operating the operating tool from the neutral position to the manual raising operation position or the manual lowering operation position to raise and lower the work device to an arbitrary height position. When the sphere is operated to the automatic raising operation position or the automatic lowering operation position, the working device automatically moves up and down to a predetermined upper limit position or a predetermined working height position. In this case, since manual lifting operation of the work device cannot be performed until the automatic lifting operation is completed, there is room for improvement in the improvement of the lifting operability.

On the other hand, according to the third prior art, the driver can be grasped whether or not the operating tool is reliably operated to the automatic raising operation position or the automatic lowering operation position. However, the first operation of the operation tool to the automatic lowering operation position of the operating tool for automatically lowering the working device to a predetermined working height position by the notification sound generated from the notification device with the arrival of the automatic lowering operation position of the operating tool, and the work As it is the same between the second operation to the automatic lowering operation position of the operating tool for switching the apparatus to the operating state, it is grasped whether it is the first operation or the second operation to the automatic lowering operation position of the operating tool from the operation sound. It cannot be. Therefore, the intention that the driver only automatically lowers the work device to the predetermined work height position may cause problems such as the work device is switched to the operating state and the work is started. Or the intention which started work by switching a work device to an operation state might cause the problem that a work is not started only by automatically descending to a predetermined work height position. In order to solve these problems, although the alarm sound is generated from the notification device with the arrival of the operating tool to the automatic lowering operation position, the driver works backwards every time the operating tool is operated to the automatic lowering operation position. It was necessary to perform a cumbersome operation such as visually confirming the state of the device.

Then, the 2nd object of this invention is to make it possible to stop the automatic lifting operation of a work device by rational operation, and to aim at the improvement of lifting operability.

In addition, by moving the Munon work device (a seedling device in the case of rice transplanter) connected to the rear part of the machine body when the machine body retracts, the machine body moves backward as it is in the lowered state at the time of work. As a control for preventing the rear end of the non-non-working device from colliding with a head, etc., there is a "back-up control".

For example, in the rice transplanter, the liner may perform a line alignment while the seedling apparatus is close to the non-mirror surface, and in such a case, the back and forth is repeated while the seedling apparatus is kept close to the non-mirror surface. It is necessary to do it. In that case, however, in the fourth prior art configuration, since the backup control means always operates at the time of reversing, the driver needs to perform the alignment work again by lowering the work device raised by the backup control each time. . As a result, there has been a problem that the alignment operation cannot be performed efficiently.

Accordingly, a third object of the present invention is to improve workability by enabling backup control to be performed only when necessary in a non-non-working apparatus such as a rice transplanter having a backup control function.

1 is an overall side view of a rice transplanter.

2 is a hydraulic circuit diagram for lifting and lowering seedling apparatus.

3 is a control block diagram.

4 is a flowchart of lift control first.

5 is a flowchart of lift control first.

6 is a flowchart of backup control.

<Explanation of symbols for the main parts of the drawings>

3: rider body

5: seedling part apparatus (an example of a Munnon work apparatus)

6: hydraulic cylinder

9: hydraulic continuously variable transmission (an example of a traveling transmission)

16: stop float

22: pump

23: main spool

24, 26: control oil chamber

25: lift duty valve

27: descending duty valve

29: pilot check valve

31: Shuttle Valve

32: spring

33: pressure compensation valve

50: operation tool (operation lever)

N: neutral position

U1: manual lift operation position

U2: auto lift operation position

D1: manual lowering operation position

D2: automatic lowering operation position

SF: Sensor Float

V: Electronic Control Valve

a: pressure oil supply flow path

b: Pressure oil supply and distribution flow path

d: pilot flow path

e: pilot flow path for circuit closing

f: pilot flow path for circuit opening

In order to achieve the said 1st objective, the characteristic structure of the munon working apparatus by this invention exists in the following points.

That is, the electronic control valve is provided with a main spool in communication with the hydraulic cylinder via a pressure oil supply / discharge flow path, and a rising duty valve and a falling duty valve which are electromagnetically driven, and these rising duty valves and falling duty valves. Is connected to each of a pair of control oil chambers disposed at both ends of the main spool, and the main spool is displaced from the neutral position to the rising side or the descending side in an opening degree according to the magnitude of the pilot pressure applied to one control oil chamber. Configured to

A pilot check valve is disposed in the pressure oil supply / discharge flow path for allowing flow of the pressure oil discharged from the main spool to the cylinder side and preventing leakage of the pressure oil from the cylinder side;

When the main spool is in the neutral position, the pressure oil supply flow path and the pressure oil supply / discharge flow path connected to the pump are closed and blocked, and the pilot flow path for opening the pilot check valve circuit passes through the main spool. Connected to,

When the main spool is in the ascending position, the pressure oil supply passage and the pressure oil supply / discharge passage communicate with each other via the main spool,

When the main spool is in the lowered position, the pressure oil supply passage is configured to communicate with the pilot passage for opening the circuit of the pilot check valve via the main spool,

The pressure oil supply flow passage communicates with the tank via a pressure compensating valve closed and pressed by a spring, and a circuit passage pilot opening for the pressure compensating valve is connected to the pressure oil supply flow passage and at the same time for the circuit closing of the pressure compensation valve. A pilot flow path is connected to the pressure oil supply / discharge flow path and the pilot flow path of the pilot check valve via a shuttle valve.

According to the above configuration, as shown in Fig. 2, when the rising duty valve 25 and the falling duty valve 27 are both inoperable, the pressure oil inflow flow path a and the oil supply and flow flow path b are neutral. Are respectively closed by the main spool 23, and the pilot circuit d of the pilot check valve 29 is opened. In this state, since no pressure is generated in the circuit closing pilot flow path e of the pressure compensation valve 33, pressure compensation is performed by the pressure of the circuit opening pilot flow path f communicating with the pressure oil inflow flow path a. The valve 33 is opened against the spring 32 and the total amount of the pressure oil supplied to the pressure oil inflow passage a is discharged to the tank side via the pressure compensation valve 33. In addition, the outflow of the hydraulic oil from the hydraulic cylinder 6 is prevented by the self-closing action of the pilot check valve 29, and the hydraulic cylinder 6 is maintained at the existing position. Here, the pressure oil inflow passage (a) generates a pressure to overcome the closing pressure of the spring 32, the closing pressure of the spring 32 is small, due to the oil through the pressure compensation valve 33 in the neutral operation Pressure loss is small.

When the lifting duty valve 25 is intermittently driven and the pilot oil for the upward operation is supplied to the control oil chamber 24, the main spool 23 is displaced to the rising side in accordance with the magnitude of the pilot pressure, The pressure oil inflow flow path (a) and the oil supply and drain flow path (b) communicate with each other by the opening degree. As a result, the pilot check valve 29 is forcibly opened by the pressure of the pressure oil inflow passage a, and the hydraulic cylinder 6 is driven to the rising side by receiving the pressure oil supply.

In this case, the pressure of the oil supply oil passage b acts on the circuit closing pilot oil passage c of the pressure compensation valve 33 via the shuttle valve 31, so that the pressure of the pressure oil inflow oil passage a suddenly increases. The pressure of the oil supply and flow path b so that the pressure of the useful flow path b becomes larger than the pressure of the spring spool, that is, the front and rear pressure difference of the main spool 23 becomes similar to the pressure of the spring 32. The pressure compensation valve 33 opens and closes according to the load pressure of the hydraulic cylinder 6]. As a result, when the opening degree of the main spool 23 is the same, the amount of oil passing through the main spool 23 is stably maintained regardless of the load, so that the operating speed of the hydraulic cylinder 6 is constantly compensated.

When the descending duty valve 27 is intermittently driven and the pilot pressure is supplied to the control oil chamber 26, the main spool 23 is displaced to the lowering side in accordance with the magnitude of the pilot pressure. In this case, the pressure oil inflow passage a communicates with the pilot passage d, and the pilot check valve 29 is opened, and the cylinder port C passes through the oil supply passage b and the main spool 23. In communication with the tank side, the working oil in the hydraulic cylinder 6 flows out, and the seedling unit 5 descends by itself. At this time, since the same pressure is applied to both pilot flow paths e and f of the pressure compensation valve 33, the pressure compensation valve 33 is closed by the spring 32, and the pressure oil from the pump 22 is reduced. Is supplied to the pilot flow path d to open the pilot check valve 29.

Therefore, according to the present invention, the pressure compensation valve for stabilizing the flow rate in the rising operation is used as an unloading valve which discharges the entire amount of the supply pressure oil at the time of neutral without passing through the main spool, thereby supplying at the time of neutrality. It is not necessary to form a flow path for flowing out the entire amount of the pressure oil to the tank side and a flow path for communicating the pressure oil supply / discharge flow path to the tank side, thereby simplifying the spool processing, making the hydraulic circuit structure simple and low cost. do.

In order to achieve the said 2nd object, the characteristic structure of the munon working apparatus by this invention exists in the following points.

That is, the neutral return type operation tool connected to the electromagnetic control valve is installed in the rider body,

When the operating tool is operated from the neutral position to the manual lift operation position, the Munnon work device is lifted up and controlled while the operating tool is held at the operating position.

When the operating tool is operated from the neutral position to the automatic raising operation position beyond the manual raising operation position, the Munon work device is automatically raised and controlled to a predetermined upper limit position, and the operating tool is manually lowered from the neutral position. Operation, the Munnon work device is lowered and controlled while the operation tool is held at the operation position.

When the operating tool is operated from the neutral position to the automatic lowering operation position beyond the manual lowering operation position, the Munnon work device is automatically lowered and controlled to a predetermined working height position,

If the operating tool is operated from the neutral position to the manual lowering operation position during the automatic raising of the munon working apparatus based on the operation of the operating tool to the automatic raising operation position, the munon working apparatus is in the middle of the raising at that time. Stop the climb in position,

If the operating tool is operated from the neutral position to the manual raising operation position during the automatic lowering of the non-non-working device based on the operation of the operating tool to the automatic lowering operation position, the non-non-working device is then lowered at that time. It is configured to stop the descent from the position.

According to the above configuration, when the automatic raising operation for automatically raising the working device to the predetermined upper limit position by an incorrect operation of the operating tool to the automatic raising operation position is unexpectedly started, by operating the operating tool to the manual lowering operation position, The automatic raising operation of the work device based on the misoperation can be stopped immediately. On the contrary, when the automatic lowering operation of automatically lowering the work device to a predetermined working height position by an incorrect operation of the automatic lowering operation position of the operating tool is unexpectedly initiated, the operating operation of the operating tool to the manual raising operation position is performed. It is possible to immediately stop the automatic raising operation of the work device based on the operation.

That is, the intention to perform the manual lifting operation of elevating the work device to an arbitrary height position by operating the operating tool from the neutral position to the manual raising operation position or the manual lowering operation position is an automatic raising operation position inadvertently exceeding their operation position. Alternatively, even when the operating tool has been operated to the automatic lowering operation position, the automatic lifting operation of the work device based on the misoperation is immediately stopped, and the operation of the operating tool based on the operation to the manual raising operation position or the manual lowering operation position. It can be switched by manual lifting operation of the work device.

In addition, the operation position for stopping the automatic lifting and lowering operation of the work device based on the misoperation of the operating tool is the operation position for moving the work device in the reverse direction to the moving direction of the work device by the misoperation, and from the neutral position. Since the operation position is close, the driver can quickly and automatically perform the elevating and stopping operation of the work device without instinctively embarrassing.

Therefore, according to the present invention, the automatic lifting and lowering operation of the working device by the wrong operation of the operating tool can be stopped easily and immediately by a reasonable operation, and the lifting and lifting operability which can quickly perform the lifting and lowering operation of the appropriate working device is excellent. In addition, the fall of the work efficiency by the misoperation was avoided.

Further, when the second operation to the operation position is performed after the operation tool is operated from the neutral position to the automatic lowering operation position, the munon work device is configured to switch to the operating state, and further The work device based on the fact that the operating tool has reached the automatic lowering operation position automatically descends to a predetermined work height position; and the work device based on the operation tool reaching the automatic lowering operation position. It is advantageous in the following point if the notification apparatus which produces a notification sound according to each case is equipped between when and is switched to an operation state.

According to the above configuration, as the next operation after operating the operating tool from the neutral position to the automatic lowering operation position and automatically lowering the working device to the predetermined working height position, the operating position is operated again by operating the operating tool back to the automatic lowering operation position. You can switch to the working state. Normally, the operation to the automatic lowering operation position of the operating tool is not performed as the next operation after operating the operating tool to the automatic lowering operation position and automatically lowering the work device to the predetermined working height position. Since it is effectively used for switching the working state of the apparatus, there is no need to newly provide a dedicated operation position for switching the working apparatus to the working state.

Therefore, not only the lifting operation of the work device but also the switching operation of the work device to the working state can be made excellent in operability that can be easily performed by a single operating tool, and the operation structure can be simplified and the manufacturing cost can be reduced. .

In addition, according to the above configuration, if a notification sound is generated from the notification device when the operating tool is operated toward the automatic lowering operation position, the driver indicates that the operation at that time is a proper operation of the operating tool reliably operated to the automatic lowering operation position. It can be figured out. By the notification sound at that time, the driver can determine whether the automatic lowering operation of the work device based on the operation is performed or the switching operation to the working state is performed. In addition, when a notification sound does not generate | occur | produce from a notification apparatus, the operation at that time is inadequate and the operation tool is not operated to the automatic lowering operation position reliably, and both the automatic descending operation of a work apparatus and the switching operation to a work state are performed. It allows the driver to grasp what has not been done.

That is, the driver can easily determine whether the operation to the automatic lowering operation position of the control panel is appropriate, and if the operation is inappropriate, the driver can be urged to promptly re-operate the control panel. It is possible to quickly perform an appropriate reoperation to the lowering operation position. In addition, since the driver can easily grasp the operation of the work device performed based on the operation of the operation tool to the automatic lowering operation position at that time, the intention is to only automatically lower the work device to the predetermined work height position. A problem can be avoided in advance such that the work device is switched to the operating state and the work is started unexpectedly. Alternatively, the intention of switching the work device to the operating state to start the work can be avoided in advance such a problem that the work does not start only by automatically lowering the work device to a predetermined work height position. Further, even if they cause their problems, for example, the driver can easily identify the occurrence of their problems, and the driver can quickly perform appropriate operations on their problems.

Therefore, the operation to the automatic lowering operation position of the operating tool is inadequate, and the reduction in the work efficiency due to the automatic lowering operation of the work device based on the operation or the switching operation to the operating state cannot be easily avoided. It became possible. In addition, it is also possible to easily avoid a decrease in work efficiency due to problems such as unexpectedly starting work or not starting work.

In order to achieve the said 3rd objective, the characteristic structure of the nonon work apparatus which concerns on this invention exists in the following points.

That is, reverse detection means for detecting that the traveling transmission device of the rider body is set to the reverse position,

A ground state detecting means for detecting a ground state of a stationary float provided in the non-non-working device;

A control means for receiving a reverse state detection result of the reverse detecting means and performing backup control for forcibly elevating the Munnon work device;

If the grounding state detecting means does not detect the grounding state, even though the backward detecting means detects the backward state by linking the electronic control valve with the backward detecting means and the grounding state detecting means, And to inhibit the operation of the backup control.

According to the above configuration, the control device executes the backup control only when the machine main body is in the reversed state while the stationary float in which the non-working device descends to the working height is grounded, so that the non-working device is automatically raised. If the stationary float is not grounded, the control device does not perform backup control, so that the Munnon work device does not rise even when the machine main body is in the reverse state.

Therefore, according to the present invention, in the case where backup control is not required, such as when performing the forward and backward operation with the non-working device lowered to a height where the stationary float is not grounded (that is, a so-called alignment operation), Therefore, the operation of backup control can be automatically restrained and workability can be improved.

Other features, effects, and advantages of the present invention will become apparent from the following description with reference to the accompanying drawings.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a munon work machine according to the present invention based on the drawings will be described below according to an example of a riding rice planter.

1 shows the whole side of the rice transplanter. In this rice transplanter, a drawing part is carried out via the link mechanism 4 hydraulically driven to the rear part of the 4-wheel drive type | mold main body 3 provided with the front wheel 1 and the rear wheel 2 (equivalent to a traveling device). A seeding planting device (an example of a non-non-working device) 5 is connected to the elevator. In the rear part of the main body 3, a fertilizing device is further equipped. The link mechanism 4 is driven up and down by the single-acting hydraulic cylinder 6.

An engine 8 is mounted to the front of the rider main body 1, and a hydraulic continuously variable transmission capable of continuously shifting the power from the engine 8 in forward and reverse rotation (an example of a traveling transmission device). The shifting power is inputted to (9), and the shifting power is inputted to a transmission case (10) and branched to the power system for the traveling device and the power system for the working device. The power for the branched traveling device is shifted in multiple stages by a gear-type auxiliary transmission mechanism (not shown) in the mission case, and the shifting power is pivotally supported by the mission case 20. At the same time, a part of the shifting power is transmitted to the left and right rear wheels 2 via the transmission shaft 11 and the rear transmission case 12. In addition, the power for the work device branched in the case is that only the forward rotational power is taken out from the case rear part and transferred to the seedling unit 5 so that the seedling unit 5 is driven at a speed synchronized with the traveling speed. It is supposed to be.

The seedling placing apparatus 5 has a seedling loading table 14 which loads seedlings and reciprocates in a predetermined stroke, and cuts the seedlings only one week from the lower end of the seedling loading table 14 and plantes them on the non-ground surface or 10 rows of rotary planting mechanisms 15, and a plurality of stationary floats 16 for averaging planting sites on a non-planar surface are provided. Among the stationary floats 16 group arranged in parallel, the center stationary float 16 is used as a sensor float SF for detecting the height with respect to the non-non-surface of the seedling apparatus 5 as mentioned later.

The fertilizer main device 7 wind-feeds fertilizers fed by a predetermined amount by a hopper 17 for storing powdered fertilizers and a feeding mechanism (not shown). An electric blower (18) to be attached to each stationary float (16), and also attached to each planting line, groove making machine (19) for forming a fertilizer cycle groove on the non-non-surface, fertilizer conveyed by wind It is provided with a supply hose 20 for guiding each of the groove making machine 19. And with the advance of a machine main body, the fertilizer main groove is formed by each groove | channel maker 19 near the horizontal side of a seedling part position, and fertilizer is supplied and embedded in this fertilizer main groove.

The hydraulic cylinder 6 is adapted to be operated controlled by the electronic control valve V. FIG. That is, neither the hydraulic cylinder 6 nor the electromagnetic control valve V comprise the lifting mechanism of the seedling unit. 2 shows a hydraulic circuit diagram inside the electronic control valve V for driving this hydraulic cylinder 6. In this rice transplanter, the lubricating oil stored in the traveling mission case 10 is also used as the working oil in this hydraulic circuit.

As shown in Fig. 2, the valve body 21 of the solenoid control valve V is provided with a pump port P and a hydraulic cylinder 6 that receive pressure oil supply from a pump 22 driven by engine power. The cylinder port C to be connected to the pipe and the tank port T for reducing the oil to the mission case 10 are provided. The valve main body 21 is used for raising to the neutral return type main spool 23 which is operated positively or vice versa under the supply of pilot pressure, and the control oil chamber 24 provided at one end of the main spool 23. A lifting duty valve (25) for supplying pilot pressure oil of the fuel cell (a lifting duty valve; 25) and a falling duty valve for supplying a pilot pressure oil (down) to the control oil chamber (26) provided at the other end of the main spool (23). (a lowering duty valve; 27), a pressure reducing valve 28 for supplying pressure oil of a predetermined pressure to the primary sides of both duty valves 25 and 27, a main spool 23 and a cylinder port ( C) of the pilot check valve 29 interposed in the middle of the oil supply flow path b connecting the oil supply flow passage b, the manual shut-off valve 30 for stopping the lowering, and the oil supply oil flow path b and the pilot check valve 29 The shuttle valve which is provided between the circuit opening pilot flow paths d and extracts the higher pressure among the pressures of both flow paths b and d. A pressure compensation valve 33, a relief valve 34, a line filter 35 in the pressure oil inflow passage a, and the like, which are pressed in the closing direction by the spring 31 and the spring 32, It is assembled. The pressure taken out from the shuttle valve 31 is applied to the pressure compensation valve 33 via the pilot flow path e.

Next, the lifting operation using the hydraulic circuit will be described.

〔neutrality〕

FIG. 2 shows a state in which neutral pilot pressure is not supplied to any of the control oil chambers 24 and 26 of the main spool 23. At this time, the pressure oil inflow flow path a and the oil supply and oil flow path b are closed by the main spool 23, respectively, and the pilot circuit d of the pilot check valve 29 is opened. In this state, since no pressure is generated in the circuit closing pilot flow path e of the pressure compensation valve 33, the pressure is caused by the pressure of the circuit opening pilot flow path f connected to the pressure oil inflow flow path a. The compensation valve 33 is opened against the spring 32, and the total amount of the pressure oil supplied to the pressure oil inflow flow path a via this pressure compensation valve 33 is discharged from the tank port. In addition, although the load pressure of the hydraulic cylinder 6 which receives the weight of the seedling apparatus 5 acts on the cylinder port C, outflow is prevented by the self-closing action of the pilot check valve 29, and the seedling apparatus 5 is maintained at the existing height position. Here, the pressure oil inflow passage (a) is generated to overcome the closing pressure of the spring 32, but the closing pressure of the spring 32 is small, the pressure by the oil passing through the pressure compensation valve 33 in the neutral operation The loss is small.

(Raising operation)

When the lifting duty valve 25 is intermittently driven and the pilot oil for the raising operation is supplied to the control oil chamber 2, the main spool 23 is displaced to the rising "U" side according to the magnitude of the pilot pressure. Then, the pressure oil inflow flow path a and the oil supply and drain flow path b communicate with each other by the opening degree according to the magnitude of the pilot pressure. Thereby, the pilot check valve 29 is forcibly opened by the pressure of the pressure oil inflow flow path a, the hydraulic cylinder 6 receives the pressure oil supply, and is driven shortly so that the seedling apparatus 5 moves up.

In this case, the pressure of the oil supply oil passage b acts on the circuit closing pilot oil passage e of the pressure compensation valve 33 via the shuttle valve 31, so that the pressure of the oil supply oil passage b (the hydraulic cylinder ( Load pressure of 6)], the pressure compensation valve 33 is opened and closed. At this time, the pressure in the pressure oil inflow channel a is made larger by the pressure of the spring 32 than the pressure in the oil supply and flow path b, that is, the pressure difference between the front and rear of the main spool 23 is the pressure in the spring 32. Is set to be similar to Thereby, if the opening degree of the main spool 23 is the same, the amount of oil which passes through the main spool 23 will be stably maintained regardless of load pressure, and the operating speed of the hydraulic cylinder 6 will be compensated constantly.

[Descent operation]

When the descending duty valve 27 is intermittently driven and the pilot pressure is supplied to the control oil chamber 26, the main spool 23 is displaced to the lowering "D" side in accordance with the magnitude of the pilot pressure. In this case, the pressure oil inflow flow path (a) communicates with the pilot flow path (d), and the pilot check valve (29) is opened so that the cylinder port (C) passes through the oil supply flow path (b) and the main spool (23). In communication with the side, the working oil in the hydraulic cylinder 6 flows out, and the seedling unit 5 automatically descends. At this time, since the same pressure is applied to both pilot flow paths e and f of the pressure compensation valve 33, the pressure compensation valve 33 is closed by the spring 32, and the pressure oil from the pump 22 is reduced. Is supplied to the pilot flow path d and discharged from the drain flow path g while maintaining the pressure for opening the pilot check valve 29. In addition, when the pressure of the pressure oil inflow flow path (a) increases to the set pressure, the relief valve 34 is operated to protect the entire hydraulic circuit.

As shown in the control block diagram of Fig. 3, the electronic control valve V is connected to a control device 40 using a microprocessor, and is automatically controlled based on the detection information obtained using a sensor float or the like. At the same time, it is also possible to operate by an artificial command, and the configuration related thereto will be described below.

The planting lever 41 is arrange | positioned so that back and forth oscillation is possible in the right side of the driver's seat 36 with which the main body 3 was equipped. In the operation path of the planting lever 41, four operation positions of "planting", "falling", "neutral" and "rising" are set in this order from the front to the rear, and at the rear of these Position is provided, and the operating position of the planting lever 41 is detected by a potentiometer 42 and input to the control device 40.

Each stationary float 16 attached to the seedling unit 5 is supported at the rear end of a plurality of support arms 44 extending in the rear cantilever form from the float support point shaft 43 in the lateral direction. It is supported so that it can swing up and down. Among the stationary float 16 groups, those positioned at the left and right centers have a role of the sensor float SF. The up-and-down fluctuation around the support point x of the sensor float SF is detected by the potentiometer (an example of the ground state detection means) 45, and the output from this potentiometer is the height position of the seedling apparatus 5 with respect to the non-plane. It is input to the control apparatus 40 as information.

On the left side of the steering wheel 37 provided in the front part of the drive part, the main shift lever 46 which operates the said continuously variable transmission 9 is provided so that back-and-front oscillation is possible. This main shift lever 46 is mechanically linked to the continuously variable transmission 9 so as to operate in the forward shift region F in the forward direction, thereby allowing the stepless shift in forward movement, and to operate in the rear reverse shift region R. FIG. As a result, it is possible to perform stepless shifting in reverse, and to stop driving by operating in the middle neutral N of both speed change regions. On the operation path side of this main shift lever 46, a detection lever (an example of reverse detecting means) 47 oscillates in contact with the main shift lever 46 operated by the reverse shift region R, and this detection lever. A reverse switch (an example of reverse detecting means) 48 is provided which is pressed by the swing of 47. The detection result of this reverse switch 48 is input to the control apparatus 40, and it is made to discriminate | determine whether the main shift lever 46 is operated to the reverse shift area | region R. As shown in FIG.

On the right side of the steering wheel 37, a crisscross swinging operation lever (an example of the operating tool) 50 is disposed as an operating tool for artificially sending preferential lifting commands. The operation lever 50 is configured to be swingable up, down, left, and right, and is pressed back to the neutral position N, and the manual lift operation position U1 above the neutral position N, and the manual lift operation position U1 ) Automatic upward operation position U2 higher than), manual lowering operation position D1 below neutral position N, automatic lowering operation position D2 lower than this manual lowering operation position D1, neutral The operation to the left marker operation position M (L) in front of the position N and the right marker operation position M (R) behind the neutral position N is possible. And the operation to these operation positions U1, U2, M (L), M (R) is detected by the multi-contact switch 51, and the detection result is input into the control apparatus 40. As shown in FIG.

The rider main body 3 has a doping action posture in which a pair of left and right scribing markers 52 formed by scraping on the running reference line no-non-surface of the next stroke at the time of planting travel of a single stroke, and the tip portion of which is in the pavement, It is provided so that it can be rocked around the support point y so that a posture can be switched to the standing posture (posture shown in FIG. 2) away from a no-non-surface. The operation wire 53 is linked to these left and right scribing markers 52, and the operation wire 53 is pulled in in conjunction with the seedling apparatus 5 ascending to the upper limit position, whereby the pressing force of the spring 54 is applied. It is to be switched to a standing posture against. In the standing posture, the left and right holding mechanisms 55 linked to the corresponding operating wires 53 automatically operate, and even when the seedling unit 5 is lowered, the operation wire lead-in state is held and the drawing marker ( 52) is to be held in an upright position.

The holding mechanisms 55 on the left and right are configured to release their holding functions by energizing the electromagnetic solenoid 56, and the operating lever 50 is operated to the left marker operating position M (L). When detected by the contact switch 51, the holding function of the holding mechanism 55 on the left side is released. On the contrary, when the multi-point switch 51 detects that the operation lever 50 has been operated at the right marker operating position M (R), the holding function of the right holding mechanism 55 is released. Therefore, when the seedling planting device 5 descends to the planting work height position or descends to the planting work height position, the scribing marker 52 on the side from which the holding function is released is switched to the doping posture by the spring pressing force. .

Moreover, the said control apparatus 40 has an upper limit switch 57, the seedling apparatus 5, and a fertilizer period which detect that as the height position of the link mechanism 4 that the seedling apparatus 5 was raised to the predetermined upper limit position. The control sensitivity at the time of automatically raising / lowering control of the seedling device 5 in order to maintain the planting depth and the electric motor 59 for turning on / off the work clutch 58 which controls the transmission of the power to the device 7 stably. The control sensitivity regulator 60 to adjust is connected.

In this rice transplanter, the driver can select the form which raises and lowers the seedling apparatus 5 arbitrarily by operating the planting lever 41, and the form which automatically raises and lowers the seedling apparatus 5 in order to stabilize planting depth. have. The operation of each lifting state will be described below.

[Lifting by manual]

When the driver operates the planting lever 41 to the "rising" position, the electronic control valve V is switched to the rising state, whereby the seedling device 5 is operated up until the upper limit switch 57 detects the operation. do. At the time when the seedling device 5 rises to the upper limit, the electronic control valve V is switched to a neutral state, and the seedling device 5 is held at the upper limit position. In addition, the planting lever 41 is returned to the "neutral" position by operating the planting lever 41 in the "rising" position until the seedling apparatus 5 reaches the upper limit, thereby allowing the seedling apparatus 5 to be arbitrarily moved. You can stop by raising to a height. In addition, in the "rising" position and the "neutral" position, the work clutch 58 is switched to the clutch off state by the electric motor 59.

When the seedling planting device 5 is in the air and the driver operates the planting lever 41 to the "falling" position, it switches to the "automatic planting depth control" mode. Since the control mode is to hold the seedling device 5 based on the attitude detection information of the sensor float SF at a predetermined planting work height, as described later, the seedling device 5 in the air has a sensor float. The falling control is performed until the SF is grounded and becomes a predetermined reference attitude. Moreover, it is also possible to operate the planting lever 41 to the "falling" position, and return to the "neutral" position until the sensor float SF is grounded so that the seedling planting device 5 can be lowered to an arbitrary height and stopped. . The working clutch 58 is also switched to the clutch off state by the electric motor 59 even in this "falling" position.

[Auto Planting Depth Control]

When the driver operates the planting lever 41 to the "planting" position, the driver switches to the "automatic planting depth control" mode, and the ground of the sensor float SF is detected based on the information from the potentiometer 45, and the work is performed. The clutch 58 is switched to the clutch on state by the electric motor 59. In this control mode, the electronic control valve V based on the detection information from the potentiometer 45 is operatively controlled to maintain the vertical swing angle of the sensor float SF at the target reference angle. That is, a moving average value (hereinafter simply abbreviated as a detection angle) of the vertical swing angle of the sensor float SF detected by the potentiometer 45 is calculated, and the detection angle and input are already set in the control device 40. The target reference angles are compared, and the electronic control valve V based on the deviation of the target reference angle and the detection angle is operatively controlled.

That is, when it is determined that the detection angle is larger (the sensor float SF is in the forward upward direction than the target reference angle) with respect to the target reference angle, the seedling unit 5 is lifted up. On the contrary, when it is determined that the detection angle is small with respect to the reference target angle (the sensor float SF is in the forward downward direction than the target reference angle), the seedling unit 5 is controlled to fall down. For this reason, the vertical swing angle of the sensor float SF falls within the dead band width of the target reference angle. Thereby, even if the rider main body 3 moves up and down or tilts back and forth due to the change of the depth of the field in the field, etc., the height with respect to the non-surface of the seedling apparatus 5 is stably maintained, Planting can be performed.

In this case, in the descending control, the flow rate discharged from the hydraulic cylinder 6 becomes the flow rate calculated by the n-th order function (for example, the fourth-order function) of the deviation at that time, and the hydraulic cylinder 6 in the rise control. The control gain is set so that the flow rate supplied to the flow rate becomes the flow rate of the m-th order function (m <n. According to this, while it is possible to quickly return the sensor float SF to the predetermined reference posture by raising and lowering the seedling unit 5, the rising speed of the seedling unit 5 becomes faster than the descending speed. It is possible to prevent the occurrence of floating seedlings due to the floating of each stationary float 16 from the non-planar surface.

The target reference angle in the automatic planting depth control can be adjusted and set in seven stages of &quot; 1 &quot; to &quot; 7 &quot; by the control sensitivity controller 60. The smaller the dial value is, the smaller the target reference angle is. The attitude of the sensor float SF (in the control neutral state) is changed in the forward downward direction, and the larger the dial value is set, the more the attitude of the sensor float SF at the target reference angle (in the control neutral state) rises forward. To change direction. And the target reference angle preset in advance to the control apparatus 40 is corresponded to the dial value "4" in the control sensitivity regulator 60, and the attitude | position of the sensor float SF at this time moves to the front-back direction. It is approximately horizontal.

According to this, the smaller the dial value is, the more the attitude of the sensor float SF at the target reference angle is changed in the forward downward direction, so that the sensor float SF is more susceptible to ground pressure. Sensitive elevating control is thereby performed. On the contrary, as the posture of the sensor float SF at the target reference angle is changed in the forward ascending direction by setting the dial value larger, the float SF becomes less likely to receive a ground reaction force. It does not oscillate and insensitive lifting control is performed.

Therefore, in the water-free and soft Munon, the sensitivity is controlled by setting a small dial value, so that the lifting control can be performed without unduly sinking the sensor float SF. By making the control sensitivity insensitive, stable lifting control can be performed without unreasonably responding to uneven surface unevenness.

When the planting lever 41 is operated to the "automatic" position, the "automatic planting depth control" mode described above is set, and "priority elevating control" and "backup control" can be executed. Explain.

[First lift control]

This priority elevating control is executed in response to the up and down operation of the operation lever 50. FIG. 4 and FIG. 5 show a flowchart of this priority elevating control.

As is apparent from the flowchart, when the operation lever 50 is pushed up to the manual lift operation position U1, it is detected by the multi-contact switch 51 and the electronic control valve V while the detection is continued. Is switched to the above-mentioned rising operation state, and the seedling unit 5 continues to rise. And when this detection stops, the electromagnetic control valve V will switch to said neutral state, and the drawing part apparatus 5 will stop in the raised position at that time.

In addition, when the operation lever 50 is operated to the auto lift operation position U2, it is detected by the multi-contact switch 51 and the notification device 61 which consists of a buzzer is operated and a notification sound is generated only once, The seedling unit 5 is controlled to rise until the upper limit switch 54 detects operation, and the electronic control valve V based on the arrival detection to the upper limit switches to a neutral state, so that the lift control stops.

On the contrary, if the multi-contact switch 52 detects that the operation lever 50 has been operated in the manual lowering operation position D1, the electronic control valve V is in the above lowering operation state while the detection is continued. The seedling apparatus 5 automatically descends, and when the detection stops, the electronic control valve V switches to a neutral state, and the seedling apparatus 5 stops at the lowered position at that time.

Then, in the state where the seedling device 5 is stably held at the predetermined planting work height position, the operation lever 50 is operated at the manual raising operation position U1 or the automatic raising operation position U2. When detected by the contact switch 51, the automatic planting depth control is terminated and the seedling planting device 5 is first raised, and the work clutch 55 is switched to the clutch off state via the electric motor 59. .

In addition, when the multi-contact switch 51 detects that the operation lever 50 has been operated to the automatic lowering operation position D2, the notification device 61 is operated to generate only one notification sound, and the above planting The same state as the state which operated the lever 41 to the "falling" position is brought about, and the seedling part apparatus 5 is lowered until the sensor float SF will be grounded at the target reference angle.

In addition, the following detection is detected by the multi-contact switch 52 that the operation lever 50 has been operated at the automatic lowering operation position D2, and the operation lever 50 is secondly operated at the automatic lowering position D2. Is detected by the multi-contact switch 52, a notification sound is generated by the notification device 57 twice in succession, and the electric motor 59 is operated so that the work clutch 58 is in the clutch off state. Switching to the on state, the planting operation by the seedling device 5 and the fertilizer cycle operation by the fertilizer cycle device 7 are started. And after shifting to this working state, said automatic planting depth control is performed.

In addition, the next detection after having detected that the operation lever 50 was operated to the automatic raising operation position U2 by the multi-contact switch 51 is not the arrival detection to the upper limit position by the upper limit switch 57. When detecting that the multi-contact switch 51 has been operated by the manual lowering operation position D1 of the operation lever 50, the electronic control valve V switches to a neutral state, and the drawing unit 5 It stops at the position in the middle of the rise at that time.

In addition, the following detection is detected by the multi-contact switch 52 that the operation lever 50 has been operated to the automatic lowering operation position D2, and the planting work height position of the seedling apparatus 5 by the potentiometer 45 is detected. The solenoid control valve V switches to a neutral state when detecting that the multi-contact switch 34 has been operated by the manual lift operation position U1 by the multi-contact switch 34, rather than detecting the arrival of the furnace. The planting device 5 stops at a position during the lowering at that time.

That is, it is a simple structure which only equips the single operation lever 50, and when the operation lever 50 is operated from the neutral position N to the upward manual operation position U1, it operates to the operation position U1. Only while holding the lever 50, the seedling apparatus 5 can be raised to perform a manual raising operation of raising and stopping at an arbitrary height position. On the contrary, when the operation lever 50 is operated from the neutral position N to the downward manual descending operation position D1, the seedling apparatus 5 may be held only while the operation lever 50 is held at the operation position D1. It is possible to perform a manual lowering operation of lowering the) and stopping the lowering at any height position. In addition, when the operation lever 50 is operated from the neutral position N to the automatic raising operation position U2 beyond the upward manual raising operation position U1, the automatic raising of the seedling apparatus 5 to an upper limit position is carried out automatically. The ascending operation can be performed. On the contrary, when the operation lever 50 is operated from the neutral position N to the automatic lowering operation position D2 beyond the downward manual lowering operation position D1, the seedling apparatus 5 is moved to a predetermined planting work height position. It is possible to perform an automatic descent operation for automatically descending.

As the next operation of the operation to the automatic lowering operation position D2, the second operation to the operation position D2 can be performed to switch the seedling unit 5 and the fertilizer cycler 7 to the operating state. Drawing operation apparatus 5 as the next operation of the second operation to the automatic lowering operation position D2, when the operation is performed from the neutral position N to the upward manual raising operation position U1 or the automatic raising operation position U2. ) And the fertilizer cycle device 7 can be switched to the non-operation state, and at the same time, the manual raising operation or the automatic raising operation of the seedling device 5 according to the operating positions U1 and U2 can be performed. By operating the operation lever 50 to the left marker operation position M (L) or the right marker operation position M (R), the scribing marker 52 used for scribing can be selected.

In addition, during the automatic raising operation of the seedling apparatus 5 based on the operation of the operating lever 50 to the automatic raising operation position U2, the operating lever 50 is moved from the neutral position N to the manual lowering operation position ( By operating in D1), the seedling apparatus 5 can be lifted and stopped at the position in the middle of the lift at that time. On the contrary, during the automatic lowering operation of the seedling device 5 based on the operation of the operation lever 50 to the automatic lowering operation position D2, the operation lever 50 is moved from the neutral position N to the manual raising operation position ( By operating with U1), the seedling part 5 can be stopped down from the position in the middle of the fall at that time.

Thereby, the intention to perform the manual raising operation which raises the seedling apparatus 5 to an arbitrary height position by operating the operation lever 50 from the neutral position N to the manual raising operation position U1 upwards, If the operating lever 50 has been operated by the automatic raising operation position U2 beyond the manual raising operation position U1 by mistake, to the lower manual lowering operation position D1 opposite to the misoperation direction. If the operation lever 50 is operated, the automatic raising operation of the seedling unit 5 based on the misoperation can be immediately stopped, and then the operation lever 50 is moved to the manual raising operation position U1. By operating, the seedling apparatus 5 can be raised manually to an arbitrary height position.

On the contrary, the intention to operate the operation lever 50 from the neutral position N to the downward manual downward operation position D1 to perform the manual downward operation which lowers the seedling part 5 to an arbitrary height position is mistaken. If the operating lever 50 has been operated to the automatic lowering operation position D2 beyond the log manual lowering operation position D1, the operating lever is moved to an upwardly manual upward operating position U1 opposite to the misoperation direction. By operating (50), the automatic lowering operation of the seedling apparatus 5 based on the misoperation can be stopped immediately, and thereafter, by operating the operation lever 50 to the manual lowering operation position D1. The seedling apparatus 5 can be lowered to an arbitrary height position manually.

In addition, if there is no notification sound from the notification device 61, the operation lever 50 operation at that time does not operate to the automatic raising operation position U2 or the automatic lowering operation position D2. ) Or the manual lowering operation position D1, the driver can grasp that the manual lifting operation of the seedling unit 5 according to the operation is performed. In addition, when the notification sound from the notification device 61 is one time, the operation of the operation lever 50 at that time was the automatic raising operation position U2 beyond the manual raising operation position U1 or the manual lowering operation position D1. ) Or the automatic lowering operation position D2, the driver can grasp that the automatic lifting and lowering operation of the seedling unit 5 according to the operation is performed. If the notification sound from the notification device 61 is two times, the operation of the operation lever 50 at that time is the second operation to the automatic lowering operation position D2 beyond the manual lowering operation position D1, It is possible for the driver to grasp that the seedling device 5 and the fertilizer cycle device 7 are switched to the operating state. By these, the driver can easily determine whether or not the operation of the operation lever 50 at that time was appropriate. If the operation of the operation lever 50 at that time is inappropriate, the driver can select an operation lever for the incorrect operation ( Proper treatment by 50) can be promptly performed.

[Backup control]

The backup control is a means for avoiding the collision of the rear end of the seedling apparatus 5 with the dung and the like when the seedling apparatus 5 is lowered to the working height in advance, and the planting lever 41 The function only works when is operated to the "auto" position. The starting condition for the backup control is that the seedling unit 5 descends, the stop float 16 is grounded, and the main shift lever 46 is shifted to the reverse position.

Here, the determination as to whether the stop float 16 is grounded is made by the output from the potentiometer 45 which detects the attitude of the sensor float SF. In other words, when the seedling unit 5 rises from the non-planar surface, the sensor float SF is vertically lowered in the forward lowering position, and when the seedling unit 5 descends and the sensor float SF is grounded, the sensor float SF is grounded. Since the detection value of the potentiometer 45 changes with the lifting swing of SF, it can be recognized that the stop float 16 is grounded by grasping the change of the detection value.

6 shows a flowchart of this backup control. As apparent from this flowchart, when the operating position of the planting lever 41 is in the "automatic" position, it is detected that the sensor float SF is grounded by the information from the potentiometer 45, and the main shift lever When the reverse switch 48 detects that 46 is operated to the reverse position, the start condition of the backup control is established. Therefore, the work clutch 58 is automatically turned off by the electric motor 59, and the electronic control valve V switches to "up", and the seedling apparatus 5 is raised. And when it is detected by the upper limit switch 57 that the seedling apparatus 5 reached the upper limit, the electromagnetic control valve V will return to "neutral", and the raising of the seedling apparatus 5 will stop. In addition, automatic planting depth control is stopped when this backup control is executed.

In addition, after the seedling apparatus 5 starts to rise, if the upper limit is not detected even after a predetermined time (for example, 2 seconds) has elapsed, the raising operation is stopped. In other words, when the rise operation is started by the backup control, the rise operation is performed for at least a predetermined time (for example, two seconds). This is advantageous in the following points.

For example, when the descending command is input to the control device immediately after the backup control is activated, the operation direction changes abruptly when the switch is configured to switch to the immediate lowering operation, so the attitude of the rider body becomes unstable or the lowering In some cases, hunting of control may occur as the command and the ascending command are continuously input. This point is that in the present invention, once the backup control means starts to operate, the rising state of the work device is maintained for a predetermined time, so that the occurrence of such a situation can be suppressed.

Moreover, when a work device stops in the vicinity of the lower surface rather than an upper limit position, the driver may not be able to recognize that the state of a work device is clearly in a raised state. In this case, when switching to the advance state and trying to perform a job, a driver may forget to lower a work device by mistake, and may carry out a work run | work. This point is that in the present invention, once the backup control means starts to operate, the rising state of the work device is maintained for a predetermined time, so that such a situation can be avoided.

In addition, the seedling apparatus 5 raised by the backup control can be lowered by the above-described downward operation of the operation lever 50.

[Other Embodiments]

This invention can also be implemented with the following forms.

(1) The nonon work machine may be a riding direct sowing machine configured by connecting a paddy field direct sowing apparatus to a rear portion of the main body of the machine as a nonon work device. Moreover, it can also implement and implement it to the specification provided with the fertilizer main apparatus in the nonon work equipment, such as a seedling apparatus and a nonon wave directing device.

(2) In the middle of the automatic raising operation of the seedling device 5 based on the operation of the operating lever 50 to the automatic raising operation position U2, the operation lever 50 is manually lowered from the neutral position N. Even when operating to the automatic lowering operation position D2 beyond the position D1, the seedling part apparatus 5 may be comprised so that a raise stop may be carried out at the position in the middle of a raise at that time. In addition, in the middle of the automatic lowering operation of the seedling apparatus 5 based on the operation of the operation lever 50 to the automatic lowering operation position D2, the operation lever 50 is manually lifted from the neutral position N. Even when operating to the automatic raising operation position U2 beyond the position U1, the seedling part apparatus 5 may be comprised so that a fall stop may be carried out at the position in the middle of the fall at that time.

(3) As the notification device 61, an electronic alarm, a sound generator, or the like may be employed instead of the buzzer in the above embodiment.

(4) As the next detection after the arrival of the operation lever 50 to the automatic lowering operation position D2 is detected by the multi-contact switch 51, the automatic raising operation position U2 or the automatic lowering of the operation lever 50 is detected. When the arrival to the operation position D2 is detected by the multi-contact switch 51 and the second arrival of the operation lever 50 to the automatic lowering operation position D2 is detected by the multi-contact switch 51. In this case, the length of the notification sound generated by the notification device 61 may be changed, or the tone may be changed.

(5) Even when the operation lever 50 reaches the manual raising operation position U1 or the manual lowering operation position D1 is detected by the multi-contact switch 52, the notification device 61 sounds a notification sound. It may be configured to generate. In this configuration, for example, if the arrival of the operation lever 50 to the manual raising operation position U1 or the manual lowering operation position D1 is detected by the multi-contact switch 51, while the detection is continued. The notification device 61 to generate a notification sound, and when the arrival of the operation lever 50 to the automatic raising operation position U2 or the automatic lowering operation position D2 is detected by the multi-contact switch 51, the notification is made. The device 61 causes the notification sound to be generated two times continuously, and by the multi-contact switch 51, the arrival of the operation lever 50 to the automatic lowering operation position D2 is detected. When the second arrival of the operation lever 50 to the automatic lowering operation position D2 is detected by the multi-contact switch 51, the notification device 61 may continuously generate the notification sound three times.

(6) Notification between the case where the multi-contact switch 51 detects the arrival of the operation lever 50 to the manual raising operation position U1 and when the arrival to the manual lowering operation position D1 is detected. The number of notification sounds, the tone, etc., generated by the device 61 may be changed. Moreover, the notification device 61 between the case where the arrival of the operation lever 50 to the automatic raising operation position U2 is detected by the multi-contact switch 51, and when the arrival to the automatic lowering operation position D2 is detected. The number of tones, the tone, etc., generated by the parenthesis may be changed.

(7) As the backward detecting means for determining the start condition of the backup control, the potentiometer may be configured to detect the operation position of the main shift lever 46 that can be switched back and forth, and use the result of pulling the potentiometer.

(8) The minimum predetermined time for maintaining the ascending operation based on the backup control may be set to the time required for the scribing marker 52 to switch from the standing posture to the standing posture.

(9) In the above embodiment, the hydraulic continuously variable transmission that can be shifted in series from the forward area to the reverse area is used as the travel transmission device, but a gear type transmission device may be used instead.

(10) As the ground state detection means for detecting the ground state of the stop float 16, a dedicated ground sensor may be provided, unlike the posture detection potentiometer 45 of the sensor float SF. The dedicated ground sensor may be a pressure sensor using a piezoelectric element or the like, or a sled type ground member that swings up and down by ground pressure.

The above-described configuration provides a lifting device of a nonon working machine configured to operate and control a single-acting hydraulic cylinder that drives and lifts a nonon working device with an electronic control valve as a simple and inexpensive hydraulic circuit structure.

Claims (4)

It is a Munon work machine provided with the walker main body 3 and the Munon work device 5 connected to the rear part of this walker main body, The lifting mechanism includes a single-acting hydraulic cylinder 6 for driving the Munon work device up and down with respect to the travel body, and an electronic control valve V for controlling the operation of the hydraulic cylinder 6. , The main control valve (V) is connected to the hydraulic cylinder (6) via a pressure oil supply and discharge flow path (b), the main duty spool 23, the elevating duty valve 25 and the down duty valve for driving (27), these rising duty valves (25) and falling duty valves (27) communicate with a pair of control oil chambers (24) and (26) disposed at both ends of the main spool (23), respectively. Connected to, and configured to displace the main spool 23 from the neutral position to the up or down side in an opening degree according to the magnitude of the pilot pressure applied to one control oil chamber, A pilot check valve 29 is disposed in the pressure oil supply / discharge flow path b to allow flow to the pressure oil cylinder side discharged from the main spool 23 to prevent pressure oil outflow from the cylinder side. , When the main spool 23 is in the neutral position, the pressure oil supply flow path a and the pressure oil supply / discharge flow path b connected to the pump 22 are respectively blocked and blocked, and the pilot check valve ( A pilot flow path d for opening the circuit 29 is communicated with the tank via the main spool 23, When the main spool 23 is in the ascending position, the pressure oil supply passage a and the pressure oil supply / discharge passage b communicate with each other via the main spool 23, When the main spool 23 is in the lowered position, the pressure oil supply flow path a communicates with the pilot flow opening a for circuit opening of the pilot check valve 29 via the main spool 23. Composed, The pressure oil supply flow path a communicates with the tank via the pressure compensation valve 33 closed and pressed by the spring 32, and the pilot flow path f for opening the circuit of the pressure compensation valve 33 is the pressure oil. The pilot passage e for closing the circuit of the pressure compensation valve 33 is connected to the supply passage a, and the pilot passage d of the pressure oil supply / discharge passage b and the pilot check valve 29 is connected. ) Is in communication with each other via a shuttle valve (31). It is a Munon work machine provided with the walker main body 3 and the Munon work device 5 connected to the rear part of this walker main body, The lifting mechanism includes a single-acting hydraulic cylinder 6 for driving the Munon work device up and down with respect to the travel body, and an electronic control valve V for controlling the operation of the hydraulic cylinder 6. , Neutral return type operation tool 50 which is connected to the electromagnetic control valve (V) is installed in the rider body, When the operation tool 50 is operated from the neutral position N to the manual lift operation position U1, the munon work device 5 controls the lift while the operation tool 50 is held at the operation position. Become, When the operation tool 50 is operated from the neutral position N to the automatic raising operation position U2 beyond the manual raising operation position U1, the munon work device 5 automatically raises to a predetermined upper limit position. Controlled, When the operation tool 50 is operated from the neutral position to the manual lowering operation position D1, the Munnon work device 5 is controlled to descend while the operation tool 50 is held at the operation position. When the operation tool 50 is operated from the neutral position N to the automatic lowering operation position D2 beyond the manual lowering operation position D1, the munon work device 5 automatically reaches a predetermined working height position. Lowering control, The operating tool 50 is moved from the neutral position N to the manual operating position during the automatic raising of the non-non-working device 5 based on the operation of the operating tool 50 to the automatic raising operation position U2. If it operates in (D1), the said non-non-working apparatus 5 will stop a raise at the position in the middle of a raise at that time, and The manual ascending operation of the operating tool 50 from the neutral position N during the automatic lowering of the non-non-working device 5 based on the operation of the operating tool 50 to the automatic lowering operation position D2. When the operation is performed at the position U1, the munon work device 5 is configured to stop the lowering at the position during the lowering at that time. The operation tool 50 according to claim 2, wherein when the second operation to the operation position D2 is performed after the operation tool 50 is operated from the neutral position N to the automatic lowering operation position D2. The munon work device 5 is configured to be switched to an operating state, When the working device based on the operation tool 50 has reached the automatic lowering operation position automatically descends to a predetermined work height position, and the operating tool 50 has reached the automatic lowering operation position. And a notification device (61) for generating a notification sound in each case between the case where the working device based on the above is switched to an operational state. It is a Munon work machine provided with the walker main body 3 and the Munon work device 5 connected to the rear part of this walker main body, The lifting mechanism includes a single-acting hydraulic cylinder 6 for driving the Munon work device up and down with respect to the travel body, and an electronic control valve V for controlling the operation of the hydraulic cylinder 6. , Reverse detection means (47, 48) for detecting that the traveling transmission device (9) of the rider body (3) is set to the reverse position; Ground state detection means 45 for detecting a ground state of the stationary float 16 provided in the non-non-working device 5; The control means 40 which receives the reverse state detection result of the said backward detection means, and performs the backup control which forcibly raises the said nonon work device 5 is provided, and also Although the control means 40 links the electronic control valve V with the reverse detecting means and the ground state detecting means, and the reverse detecting means detects the reverse state, the ground state detecting means maintains the ground state. The non-non-working machine which is comprised so that the operation | movement of the said backup control may be interrupted when it is not detecting.