JP3383512B2 - Passenger work machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine which is connected to a traveling machine so as to be able to move up and down by driving an actuator.
When the ascending switch detects that the operating device configured to return to the neutral position has been operated from the neutral position to the ascending position, the ascent of the working device is started, and the operation of the operating device from the neutral position to the descending position is lowered. The present invention relates to an improvement in a riding work machine including a forced lifting means for starting lowering of a working device when detected by a switch for use. 2. Description of the Related Art Conventionally, as a technique similar to the riding work machine constructed as described above, an example of a rice transplanter is disclosed in Japanese Unexamined Patent Application Publication No. Hei 8 (1994).
In this conventional example, when the switching lever is operated to the elevating position when the seedling planting device is in the ground contact state, the seedling planting device is raised to the upper limit, and this operation is performed. When the seedling planting device is at the upper limit, the control operation is set so that when the switching lever is again operated to the elevating position, the seedling planting device is lowered to the ground contact height. [0003] However, as in the prior art, there is provided a forced raising / lowering means for raising the seedling planting device to the upper limit by operating the switching lever or lowering the device to the working height. When the engine is started, for example, when the operator accidentally touches the switching lever and the switching lever is in the lowered position, the seedling planting device descends to the working height at the same time as the engine is started, and the protrusion on the ground is raised. The seedling planting equipment may be damaged due to contact with the plant. vice versa,
Even when control is performed to raise the seedling planting device to the upper limit for the same reason when starting the engine, if the engine is started in a barn with a low ceiling, the seedling planting device is brought into contact with the ceiling to plant seedlings. The attachment device may be damaged. Such inconveniences may be caused by the operator accidentally touching the lever, by the failure of the switch associated with the switching lever, or by the malfunction of the mechanical operating system of the switching lever, causing the switching lever to return to the neutral position. It also occurs when the return force decreases, and there is room for improvement. [0004] Further, in a conventional apparatus provided with two switches for ascending and descending the seedling planting apparatus, for raising and lowering, the switch is operated (for example, ON).
After the operation), there is a case where it is difficult to return to the non-operation state (for example, OFF state) due to the failure of the switch,
When the other switch is operated in such a state, both switches are operated and there is room for improvement in performing appropriate control. SUMMARY OF THE INVENTION It is an object of the present invention to prevent a working device from being lifted and lowered by controlling a forced lifting system when starting an engine.
An object of the present invention is to rationally configure a riding work machine capable of preventing improper control due to a switch failure. [0006] The features of the present invention (claims)
1) As described at the beginning, as described at the beginning, the working device is connected to the traveling body so as to be able to move up and down by driving the actuator, and the operating tool configured to restore to the neutral position is operated from the neutral position to the ascending position. Riding with forced lifting means that starts raising the work equipment when detected by the ascending switch, and starts lowering the working equipment when detected by the descent switch that it has been operated from the neutral position to the lowered position A work machine, comprising a check means for preventing the lifting and lowering of the working device by the forcible lifting means when the ascending switch and the descending switch simultaneously fall into the detection state. It is as follows. According to the above-mentioned feature , when the ascending switch and the descending switch are simultaneously detected during the operation, the restraining means prevents the forcible elevating means from moving the working device up and down. An embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an engine 4 is mounted on a front part of a traveling body 3 having a driven front wheel 1 and a driven rear wheel 2 which are operated by steering. A belt-type continuously variable transmission V to which power from the engine 4 is transmitted and a transmission case 5 are disposed at the front of the vehicle, and a steering handle 6 and a driver seat 7 are disposed at the center of the traveling body 3. The seedling planting apparatus A is connected to the rear end of the traveling machine body 3 via a link mechanism 9 driven up and down by a lift cylinder 8 as an actuator to constitute a rice transplanter as a riding type working machine. The seedling planting apparatus A comprises a planting mechanism 1 having a planting arm from the lower end of a mat strip W placed on a planting stand 10.
1 is configured to cut out one plant at a time and plant it in a field scene, and a plurality of leveling floats 1
In the left and right positions, a line marker 13 is provided which can be switched between a working posture in which the tip end enters the field scene and a non-working posture in which the leading end is separated upward from the field scene. On the right side of the driver's seat 7, the seedling planting device A is lifted and the planting clutch C built in the transmission case 5 is mounted.
5, the raising and lowering lever 16 is set at a "down" position in a path formed in the guide 17, as shown in FIG. By setting the seedling planting device A at the "up" position, the seedling planting device A is raised, and at the "neutral" position, the seedling planting device A is linked with a control system to maintain the planting device A at that level. When it is set to the “in” position, the planting clutch C is operated and the leveling float 1 provided in the seedling planting device A is set.
2 is linked with the control system so as to perform automatic elevating control for maintaining a predetermined height with respect to the field when the ground is in contact with the ground, and when set to the “off” position, the planting clutch C is disengaged, and When set to the “automatic” position, the raising and lowering of the seedling planting apparatus A is permitted according to the operation of the forcible raising / lowering lever described later, and at the same time, when the seedling planting apparatus A rises, the planting clutch C can be automatically disengaged. At the base end of the lift lever 16, a potentiometer type lever sensor 18 for measuring the operation position of the lift lever 16 is provided as shown in FIG. Among the plurality of leveling floats 12, one at the center position in the left-right direction is supported swingably around the lateral axis P with respect to the seedling planting apparatus A, and the front part is vertically displaced. A float sensor 19 for measuring the swing amount of the leveling float 12 from the amount is provided. At the time of the automatic raising and lowering control of the seedling planting apparatus A, a signal from the float sensor 19 and a signal from the control sensitivity setting unit 20 (see FIG. 7) are provided. The control operation is set so that the seedling planting apparatus A is moved up and down so as to be balanced.
As shown in FIG. 1, a link sensor 21 is provided at the base end of the link mechanism 8 to determine that the seedling planting apparatus A has risen to the upper limit. The planting clutch C is configured to be turned on and off by the operation of the clutch motor 22, and is provided with a planting clutch sensor 23 for determining the state of the clutch C at a nearby position as shown in FIG. As shown in FIG. 4, a force lifting lever 27 is provided on the right side of the post 26 of the steering handle 6 as an operation tool for forcibly moving the seedling plant A up and down. A raised position U that raises the seedling planting device A to the upper limit in a posture in which the end thereof faces upward with respect to the neutral position N while being urged to the neutral position N that is in the horizontal position, and based on the neutral position N. A lowering position D for lowering the seedling planting apparatus A to a working height for automatically raising and lowering the seedling planting device A with its end directed downward, and a right line marker 13 with its end directed backward with respect to the neutral position N. It is configured to be freely switchable between a right marker position R for switching to a working posture and a left marker position L for switching the left line marker 13 to a working posture with its end directed forward with respect to the neutral position N. As shown in FIGS. 2 and 3, the forcible raising / lowering lever 27 is moved relative to the upper end position of a shaft 29 which is swingably supported around an axis Y parallel to a handle shaft case 28 of the steering handle 6. Support shaft 3 with front and rear facing
By swingably supporting around the support shaft 30, swinging around the support shaft 30 allows the forcible lifting lever 27 to swing in the vertical direction, and forcibly by rotating the shaft body 29 around the axis Y. Lift lever 2
9 is allowed to swing back and forth. A pair of upper and lower return members, which are swingable around the shaft member 31 and urged by a spring 32 in a direction approaching each other, with respect to the shaft member 31 supported in the front and rear posture supported by the handle shaft case 28. 33, and a stopper (not shown) for setting a neutral position is provided at a position sandwiched between the pair of return members 33, 33.
The forcible lifting / lowering lever 27 is moved by linking a contact member 34, which is arranged to be movable up and down with respect to the position where 33 is sandwiched, and the base end of the forcible lifting / lowering lever 27 via a vertically oriented link member 35. It is urged to return to the neutral position in the vertical direction. Further, the forcible lifting / lowering lever 27 is returned to an intermediate position in the front-rear direction by being biased by a vine winding spring 36 so as to maintain the swinging posture of the shaft body 29 around the axis Y in a predetermined posture. It has become. A swing member 38 is provided so as to swing freely around a shaft member 37 which is in a horizontal position with respect to the handle shaft case 28, and an engagement recess 38A formed on the upper portion of the swing member 38.
An operating shaft 39 projecting laterally from the intermediate portion of the shaft body 29 is engaged with the shaft member 29. The left and right line markers 13, 13 are attached to the swinging end of the swinging member 38 at the front and rear positions. The switching wires 40, 40 for switching to the working posture are connected. Further, from the swinging displacement of the upper and lower return members 33, 33, the forcible raising / lowering lever 27 is moved to the upper position U and the lower position D.
And a switch 42 for detecting that the forcible elevating lever 27 has been operated to the right marker position R or the left marker position L from the swing posture of the swing member 38. For this purpose, a pair of marker switches 43 are provided. As shown in FIG. 6, the line marker 13 is provided at both ends of the frame 46 of the seedling planting apparatus A so as to be swingable around a support shaft 47 in a front-rear direction. A spring 48 for urging the actuator 13 to the working posture
The operating force from the rear end of the link mechanism 9 is such that the left and right line markers 13, 13 are simultaneously operated to the non-operative position by the pulling operation accompanying the change in the attitude of the link mechanism 9 when the seedling planting apparatus A is raised. It is provided with a pair of operation wires 49, 49 that can be transmitted. Further, even when the seedling planting device A is lowered from the ascending position, the operation wires 49, 49 are maintained in the pulled state and the line markers 13, 13 are set in the non-operating posture. Lock mechanism 5 to maintain
0, 50 (the structure is not described in detail). The lock mechanism 50 is configured to release the locked state by pulling the switching wire 40 and to relax the operation wire 49 to allow the line marker 13 to be switched to the operating posture. A control system is constructed as shown in FIG. 7. In this control system, a lever sensor 18 and an up switch 4 are provided to a control device 53 having a microprocessor (not shown).
1, down switch 42, marker switch 43, link switch 21, control sensitivity setting device 20, float sensor 1
9. Clutch sensor 2 for determining the state of planting clutch C
3, and a system for inputting a signal from each of the reset switches 57 is formed, and a solenoid valve 54 for the lift cylinder 7, a relay circuit 55 for controlling the clutch motor 22, and an output system for each of the alarms 56 as an alarm device. Is formed. The control system is configured to be supplied with power from a main switch (not shown) that is turned on simultaneously with the start of the engine 4, and the solenoid valve 54 is driven by the engine 4. It is configured to supply pressure oil from a hydraulic pump P to be operated. In the control device 53, when the engine 4 is started, the elevating lever 16 is in the "automatic" position, and when the elevating switch 41 or the descending switch 42 is in the ON state, the forced elevating control is inhibited and the control is stopped. Also, when raising and lowering the seedling planting apparatus A by the forced raising and lowering control at the time of work, the control operation is set so as to prevent the forced lifting and lowering control even when the raising switch 41 and the lowering switch 42 are simultaneously turned on, The operation will be described below. As shown in the flowchart of FIG. 8, when the engine 4 is started, a check routine (step # 100).
The main routine is set so that the processing of the alarm routine (# 200 step) is performed, and the processing of the elevation control routine (#AUTO step) is performed until the processing is reset (#R step). . Incidentally, 牽 system means F by software for controlling operation of the alarm routines of this routine (# 200 steps) are formed. As shown in the flowchart of FIG. 9, in the braking control routine (step # 100), the flag is set to "0" simultaneously with the start of the engine 4, and any one of the up switch 41 and the down switch 42 is set. If the flag is ON, the flag is set to "1"(# 101 to # 101).
104 steps). As shown in the flowchart of FIG. 10, in the alarm routine (step # 200), a flag is first determined, and the alarm 56 is determined only when the flag is "1".
Alarm operation to generate an intermittent sound (# 201, # 2)
02 step), then, when the reset switch 57 is turned ON, the up switch 41 and the down switch 42
The flag is returned to "0" only when is not in the ON state, and the subsequent alarm operation is stopped (steps # 203 to # 206). As shown in the flowchart of FIG. 11, in the elevating control routine (#AUTO step), when the elevating lever 16 is set to the "neutral" position, the solenoid valve 54 is operated to the neutral position, and the planting clutch C If the is in the on state, the cutting operation is performed (steps # 301 to # 303).
Further, in the case of setting the lift lever 16 to the "auto" position intends line control operation of the automatic elevation control routine and forcible lift control routine (# 304, # 400, 500 steps).
When the raising / lowering lever 16 is set to the "up" position, the solenoid valve 54 is operated to the up position to raise the seedling planting apparatus A and, if the planting clutch C is in the engaged state, to turn off ( # 305 to # 307 steps). When the raising / lowering lever 16 is set to the "down" position, the solenoid valve 54 is operated to the lowering position, and the seedling planting device A is lowered until the float sensor 19 detects the ground contact state of the leveling float 12, and the automatic The control operation of the raising / lowering control routine is performed, and if the planting clutch C is in the engaged state, the disconnection operation is performed (# 308, #
400, # 309 steps). When the lifting lever 16 is not in these operating positions, it is operated in the "ON" position. Therefore, the solenoid valve 54 is operated to the lowering position, and the float sensor 19 detects the grounding state of the leveling float 12. The seedling planting apparatus A is lowered until the planting operation is completed, and the control operation of the automatic raising and lowering control routine is performed. still,
This forced lifting means E of claim 1 by software that forms a # 500 steps of the lifting routine is configured. As shown in the flowchart of FIG. 12, in the automatic elevating control routine (step 400), the signal from the control sensitivity setting device 20 and the signal from the float sensor 19 are input only when the flag is "0". The control target value set by the control sensitivity setting device 20 and the float sensor 19
By performing a control operation of operating the electromagnetic valve 54 so that the value of the feedback signal from the controller is balanced, the seedling planting apparatus A is moved up and down following the field scene, and the flag is “1”. Cannot perform the control operation of the automatic lifting control routine (# 401 to # 404 steps). As shown in the flowchart of FIG. 13, in the forced ascent / descent control routine (step # 500), only when the flag is "0", the seedlings are planted while the leveling float 12 is in contact with the ground based on the signal from the float sensor 19. When it is determined that the attachment device A is at the working height, the up switch 41 and the down switch 42 are turned on almost simultaneously for a short time.
In the case of falling into the state, this phenomenon is ignored and the subsequent control is permitted (steps # 501 to # 503), and if the ON state of the ascent switch 41 is detected, the control by the clutch motor 22 is performed. The clutch C is disengaged, the raising of the seedling planting device A is started by the operation of the solenoid valve 54, and the seedling is detected by the link sensor 21 unless the lowering switch 42 detects the ON state while the rising control is continued. The raising control is continued until it is detected that the planting device A has reached the upper limit (steps # 504 to # 509). When the ON state of the lowering switch 42 is detected during the upward control (step # 507), the flow branches to "J" and, as shown in the flow chart of FIG. Then, the process branches to "K" and shifts to the descending control after step # 514, which will be described later. If the up switch 41 is in the ON state,
Since it can be determined that the ascending switch 41 and the descending switch 42 are both in the abnormal state of the ON state at the same time, the alarm 56 is activated by driving the alarm 56 for a short time of about 0.2 seconds.
By operating the solenoid valve 54 to the neutral position, the raising and lowering of the seedling planting apparatus A is stopped, and the flag is set to “1” (# 510 to # 510).
513 steps). Next, when the seedling planting device A is not at the working height in step # 502, the seedling planting device A is located at the upper limit, and the ON state of the down switch 42 is detected in this state. In this case, the lowering of the seedling planting apparatus A is started by the operation of the solenoid valve 54, and the floating sensor 19 detects the ON state of the raising switch 41 while the lowering control is continued. The descending control is continued until it is detected that the. Has fallen to the working height (steps # 514 to # 518). When the on state of the up switch 41 is detected during the down control (step # 516), the flow branches to "L" and if the down switch 42 is not in the on state as shown in the flowchart of FIG. Further, the process branches to "M" and shifts to the ascending control after the step # 504, and when the descending switch 42 is in the ON state,
Since it can be determined that the down switch 42 and the up switch 41 are simultaneously in the abnormal state of the ON state, the alarm 57 is driven for a short time of about 0.2 second to perform an alarm operation.
By operating the solenoid valve 54 to the neutral position, the raising and lowering of the seedling planting apparatus A is stopped, and the flag is set to "1"(# 519 to # 519).
# 522 steps). Then, steps # 510 to # 513 and # 519 to # 52 in the forced lifting control routine.
2. A check means G according to claim 1, wherein the software comprises two steps.
Is configured. When the forcible raising / lowering lever 27 is operated to the right marker position R or the left marker position L, the lock state of the lock mechanism 50 operated by the operation of the switching wire 40 is released. The line marker 13 on this side is switched to the action posture, and when the planting clutch C is in the disengaged state, the planting clutch C is turned on based on a signal from the marker switch 43. As described above, according to the present invention, for example, when the lifting lever 16 is in the "automatic" position, the forced lifting lever 27 is operated due to, for example, the worker's clothes coming into contact with the forced lifting lever 27. When the engine 4 is started in this state, or when the elevating lever 16 is in the "automatic" position,
Even when the engine 4 is started in a state in which either the up switch 41 or the down switch 41 is kept ON due to a failure, the seedling planting device A is not moved up and down against the intention of the operator. In the present invention, when the check means F functions when the engine 4 is started, when the forced raising and lowering means E forcibly raises and lowers the seedling planting apparatus A and the automatic raising and lowering control, the seedling transplanting apparatus A is controlled.
The automatic raising and lowering is prevented and the alarm operation is continued.
Has been operated by mistake, or the ascending switch 41 and the descending switch 42 can be easily determined to be out of order. In such a case, when the vehicle is in the restraint state, the restraint state is released by operating the reset switch 57. It is also possible. When the reset switch 57 is operated, either the up switch 41 or the down switch 42 is turned on.
In the state, the up switch 41 and the down switch 4
Either of them is a failure and cannot be reset. Further, in the present invention, when it is determined that the raising switch 41 and the lowering switch 42 are simultaneously in the ON state during the raising and lowering of the seedling planting apparatus A by the forced raising and lowering control, the raising switch 41 and the lowering switch When it is determined that at least one of the switches 42 is out of order, the alarm is activated and the raising / lowering control is immediately stopped, and the alarming operation is continued in the same manner as described above. The automatic raising and lowering of the seedling planting device A by the automatic raising and lowering control and the automatic raising and lowering control are prevented.
The check state can be released by the operation 7. In this control system, for example, the switch 1
For the purpose of resolving the inconvenience that the seedling planting apparatus A cannot be moved up and down at all by only one failure, the raising and lowering of the seedling planting apparatus A by the operation of the raising / lowering lever 16 is allowed even in the state of being checked. [Other Embodiments] In addition to the above-described embodiment, the present invention does not use a dedicated switch as an operation for resetting the check state. In order to perform reset by means such as simultaneous operation of switches for forcedly operating the attachment device and other switches, reset is performed by a combination operation of switches that are not operated simultaneously during normal work It is also possible. Further, according to the present invention, when the vehicle enters a check state, the check state can be maintained even after the engine is stopped by writing this state into a nonvolatile memory such as an EEPROM. The control operation can be set so as to release the traction state by performing the same reset operation as described above even when the traction state is maintained in this manner. In the present invention, for example, it is also possible to configure the check means only with a hardware circuit such as a logic gate and a comparator without using a microprocessor. Therefore, even if the switch is broken at the time of starting the engine, the working device which prevents the working device from being lifted and lowered by the control of the forcible lifting / lowering means and thereby prevents the working device from being damaged can be rationally constituted. In addition, even if the switch is broken, an improper control is prevented beforehand, and a riding work machine which does not erroneously raise and lower the seedling planting device is rationally configured.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view of a rice transplanter. FIG. 2 is a rear view showing linkage between a forced lifting lever and a switch. FIG. 3 is a side view showing linkage between a forced lifting lever and a switch. FIG. 4 is a side view showing an arrangement of a forced lifting lever. FIG. 5 is a plan view of an operation path of the lifting lever. FIG. 6 is a principle diagram of an operation structure of a line marker. FIG. 7 is a block circuit diagram of a control system. Flowchart of main routine [Fig. 9] Flowchart of restraint routine [Fig. 10] Flowchart of alarm routine [Fig. 11] Flowchart of lifting control routine [Fig. 12] Flowchart of automatic lifting control routine [Fig. 13] Flowchart of forced lifting control routine [ FIG. 14 is a flowchart of a branch routine on the forced ascending control side. FIG. 15 is a flowchart of a branch routine on the forced descending control side. Line body 4 engine 8 actuator 27 operating part 41 rises switch 42 for lowering switch A working device E forcible lift means F restraining means G restraining means N neutral position D lowered position U raised position

Continuation of the front page (56) References JP-A-8-37839 (JP, A) JP-A-8-56415 (JP, A) JP-A-53-143506 (JP, A) JP-A-60-41401 (JP, A) JP-A-5-30844 (JP, A) JP-A-8-214650 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01C 11/02 A01B 63/10

Claims (1)

(57) [Claim 1] An operating tool configured to be able to move up and down by driving an actuator to a traveling body so as to be able to move up and down, and to move the operating tool from the neutral position to the ascending position from the neutral position. Forced raising / lowering means that starts raising the working device when the operation switch is detected by the raising switch, and starts lowering the working device when the lowering switch detects operation from the neutral position to the lowered position. A riding work machine comprising a restraint means for preventing the lifting and lowering of the working device by forced lifting means when the raising switch and the lowering switch are simultaneously in a detection state. .