JPH09294427A - Passenger work machine - Google Patents

Abstract

(57) 【Abstract】 PROBLEM TO BE SOLVED: To prevent the raising and lowering of a seedling planting device when an engine is started. SOLUTION: A seedling planting device is connected to a traveling machine body by driving a lift cylinder 8 so as to be able to move up and down, and a lever for restoring a lever to restore a neutral position from a neutral position to a raised position is operated by a raising switch 41.
When the operation of changing the seedling planting device is started when the engine 4 is detected, the raising and lowering of the seedling planting device is started. A restraint means F configured to drive the actuator 8 and to prevent the forced raising and lowering means E from moving up and down the seedling planting device A when the switches 41 and 42 detect the operation of the operating tool at the time of starting the engine 4. Equipped with.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention connects a working device to a traveling machine body so that the working device can be moved up and down by driving an actuator.
When the operation switch configured to restore the neutral position is operated from the neutral position to the raised position by the raising switch, the work device starts to rise, and the operation from the neutral position to the lowered position is lowered. The present invention relates to an improvement of a riding work machine including a forcible lifting means for starting the descent of the work device when detected by a power switch.

[0002]

2. Description of the Related Art Conventionally, a rice transplanter is cited as an example of a technique similar to the riding machine constructed as described above.
-37839 gazette, and in this conventional example, when the seedling planting device is in the grounded state and the switching lever is operated to the up / down position, 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 to lower the seedling planting device to the ground level when the switching lever is operated again to the up / down position.

[0003]

However, as in the conventional example, in the case where the seedling planting device is lifted to the upper limit or lowered to the working height by operating the switching lever, the engine is started. During operation, for example, when a worker accidentally touches the switching lever and the switching lever is in the lowered position, the seedling planting device descends to the working height at high speed when the engine is started, and contacts the projecting object on the ground. The seedling planting device may be damaged due to such reasons. vice versa,
Even if 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 should be brought into contact with the ceiling. It will damage the attached device. Such inconvenience is caused by the operator not only touching the lever by mistake, but also when the switch associated with the switching lever fails or when the mechanical operation system of the switching lever malfunctions and the switching lever is moved to the neutral position. It also occurs when the restoring force decreases, and there is room for improvement.

Further, in the conventional apparatus having two switches for raising and lowering for forcibly raising and lowering the seedling planting apparatus, the switches are operated (for example, ON.
After the operation), it may be difficult to return to the non-operation state (for example, the OFF state) due to the failure of this switch.
If the switch on the other side is operated in such a state, both switches will be in an operating state, and there is room for improvement in terms of performing appropriate control.

An object of the present invention is to prevent the working device from being lifted and lowered by the control of the forced lift system when the engine is started, and
The point is to reasonably configure a riding work machine that can prevent improper control due to a switch failure.

[0006]

A first feature of the present invention (Claim 1) is, as described at the beginning, that a working device is connected to a traveling body by an actuator so that the working device can be moved up and down to a neutral position. When the raising switch detects that the operating tool configured to restore has been operated from the neutral position to the raising position, it starts raising the work device, and the lowering switch indicates that the operating device has been operated from the neutral position to the lowering position. In the riding work machine equipped with the forced lifting means for starting the descent of the work device when detected, the actuator is configured to be driven after the engine provided in the traveling machine body is started, and at the time of starting the engine. When the switch is in the detection state, it is provided with a restraining means for preventing the working device from being raised and lowered by the forced raising and lowering means, and its operation is as follows.

The second characteristic of the present invention (Claim 2) is, as described at the beginning, constructed such that the working device is connected to the traveling machine body so as to be movable up and down by the drive of the actuator and restored to the neutral position. When it is detected that the operation switch has been operated from the neutral position to the raised position by the raising switch, the work device starts to rise, and when the operation of the operating device from the neutral position to the lowered position is detected by the lowering switch, work is performed. A riding work machine having a forced lifting means for starting the lowering of the device, wherein when the raising switch and the lowering switch simultaneously fall into a detection state, the lifting of the working device by the forced raising means is blocked. It is equipped with a restraint means, and its operation is as follows.

[Operation] According to the first feature, when the raising switch is in the detection state at the time of starting the engine,
Alternatively, when the lowering switch is in the detection state, the restraint means prevents the forcible raising / lowering means from raising / lowering the work device, so that the work device is not raised / lowered.

According to the second feature, when the ascending switch and the descending switch simultaneously fall into the detection state during work, the restraint means prevents the working device from being lifted and lowered by the forced lift means.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 that are steered.
The engine 4 is mounted on the front part of the traveling machine body 3 provided with, and the belt type continuously variable transmission V for transmitting the power from the engine 4 and the transmission case 5 are arranged on the front part of the traveling machine body 3, Further, the steering handle 6 and the driver's seat 7 are arranged in the center of the traveling machine body 3, and the seedling planting apparatus A is mounted on the rear end portion of the traveling machine body 3 via a link mechanism 9 which is driven up and down by a lift cylinder 8 as an actuator. Are combined to form a rice transplanter as a riding type work machine.

The plant A for planting seedlings comprises a planting mechanism 1 having a planting arm from the lower end of the mat line seedling W placed on the seedling platform 10.
1 is cut out one by one and is operated so as to be planted in a field scene.
The line marker 13 is provided at the left and right positions and is switchable between a working posture in which the tip portion thereof projects into the field scene and a non-working posture in which the tip end thereof is separated upward from the field scene.

On the right side of the driver's seat 7, the raising and lowering of the seedling planting device A and the planting clutch C built in the mission case 5 are carried out.
The raising / lowering lever 16 for performing control of the raising / lowering lever 16 is set to the “lowering” position in the path formed in the guide 17 to lower the seedling planting device A, as shown in FIG. When set to the “elevated” position, the seedling planting device A is raised, and when set to the “neutral” position, the seedling planting device A is linked to the control system so as to maintain the level, and the lifting lever 16 is also set. When set to the “ON” position, the planting clutch C is engaged and operated, and the ground leveling float 1 provided for the seedling planting apparatus A
When it is set to the "OFF" position, the planting clutch C is disengaged, and the elevating lever 16 is operated in cooperation with the control system so as to perform the automatic elevating control for maintaining the predetermined height against the field in the state where 2 is grounded. When set to the "automatic" position, the seedling planting apparatus A is allowed to move up and down in accordance with the operation of the forced raising and lowering lever described later, and at the same time, when the seedling planting apparatus A is raised, the planting clutch C can be automatically disengaged. Incidentally, a potentiometer type lever sensor 18 for measuring the operating position of the elevating lever 16 is provided at the base end portion of the elevating lever 16 as shown in FIG.

Of the plurality of ground leveling floats 12, the one located at the center in the left-right direction is swingably supported around the lateral axis P with respect to the seedling planting device A, and the front part is displaced in the vertical direction. A float sensor 19 for measuring the amount of rocking of the leveling float 12 from the amount is provided, and a signal from the float sensor 19 and a signal from the control sensitivity setting device 20 (see FIG. 7) are provided during automatic raising / lowering control of the seedling planting apparatus A. The control operation is set so that the seedling planting apparatus A is moved up and down in a balanced manner.
Further, as shown in FIG. 1, a link sensor 21 is provided at the base end of the link mechanism 8 for determining that the seedling planting apparatus A has moved up to the upper limit. The planted clutch C is configured to be turned on and off by the operation of the clutch motor 22, and as shown in FIG. 7, a planted clutch sensor 23 for determining the state of the clutch C is provided at a nearby position.

As shown in FIG. 4, on the right side surface of the post portion 26 of the steering handle 6, a forced lift lever 27 is provided as an operation tool for forcibly moving the seedling planting apparatus A up and down. Based on the neutral position N and a rising position U that is urged to a neutral position N that is in a horizontal posture, and the end portion of the seedling planting device A is raised to an upper limit with the neutral position N as a reference. With the end portion facing downward, the descending position D where the seedling planting apparatus A is lowered to a working height for automatically raising and lowering, and the right side line marker 13 with the end portion facing rearward with reference to the neutral position N. The right marker position R for switching to the working posture and the left marker position L for switching the left line marker 13 to the working posture with the end portion thereof facing forward based on the neutral position N are configured to be freely switchable.

As shown in FIGS. 2 and 3, the forced lift lever 27 is set with respect to the upper end position of a shaft body 29 which is swingably supported around an axis Y parallel to the handle shaft case 28 of the steering handle 6. Support shaft 3 with its base end facing forward and backward
By swingably supporting about 0, swinging around the support shaft 30 allows swinging of the forcible lifting lever 27 in the up-down direction, and forcible rotation around the axis Y of the shaft 29. Lift lever 2
The rocking of 9 in the front-back direction is allowed.

A pair of upper and lower return members which are swingable around the shaft member 31 and are biased by springs 32 in directions close to each other with respect to the shaft member 31 supported in the handle shaft case 28 in a front-back direction. 33, 33, and a stopper (not shown) for setting a neutral position at a position sandwiched by the pair of return members 33, 33.
The abutment member 34, which is arranged so as to be vertically movable with respect to the sandwiched position of 33, and the base end portion of the forced elevating lever 27 are linked through the link member 35 in the vertical posture, so that the forced elevating lever 27 is moved. It is biased to return to the neutral position in the vertical direction. In addition, by biasing the swinging spring 36 around the axis Y of the shaft 29 with the temple winding spring 36, the forced lifting lever 27 is returned to the intermediate position in the front-rear direction. Has become.

A swing member 38 is provided so as to be swingable around a shaft member 37 which is in a sideways position with respect to the handle shaft case 28, and an engaging recess 38A formed on the swing member 38 is formed.
The operation shaft 39 protruding laterally from the intermediate portion of the shaft body 29 is engaged with the shaft member 29, and the left and right line markers 13 and 13 are attached to the rocking ends of the rocking member 38 at the front and rear positions. Switching wires 40, 40 for switching to the working posture are connected.

Further, the compulsory elevating lever 27 is moved to the raised position U and the lowered position D based on the swinging displacements of the upper and lower return members 33, 33, respectively.
Is provided with a raising switch 41 and a lowering switch 42 for detecting that the forced raising / lowering lever 27 has been operated to the right marker position R or the left marker position L from the swinging posture of the swinging member 38. A pair of marker switches 43, 43 are provided.

As shown in FIG. 6, the line markers 13 are provided at both end positions of the frame 46 of the seedling planting apparatus A so as to be swingable around a support shaft 47 in a front-back direction, and the line markers 13 are provided at the base end parts. A spring 48 for urging 13 to the working posture,
Further, the operation force from the rear end of the link mechanism 9 is set so that the left and right line markers 13 and 13 are simultaneously brought into the non-acting posture by the pulling operation accompanying the posture change of the link mechanism 9 when the seedling planting apparatus A is raised. A pair of operation wires 49, 49 that are transmitted are further provided, and even when the seedling planting apparatus A descends from the ascending position, the operation wires 49, 49 are maintained in the pulled state and the line markers 13, 13 are in the non-acting posture. Lock mechanism 5 to keep
0, 50 (structure is not described in detail). The lock mechanism 50 is configured to release the locked state by pulling the switching wire 40 and loosen the operation wire 49 to allow the line marker 13 to switch to the working posture.

A control system is constructed as shown in FIG. 7. In this control system, a lever sensor 18 and a raising switch 4 are provided for a control device 53 equipped with 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 the planted clutch C
3 and a system to which signals from the reset switch 57 are respectively input are formed, and an output system for an electromagnetic valve 54 for the lift cylinder 7, a relay circuit 55 for controlling the clutch motor 22, and an alarm 56 as an alarm device are provided. Has been formed. Further, the control system is configured to be supplied with electric power from a main switch (not shown) which is turned on at the same time when the engine 4 is started, and the electromagnetic valve 54 is driven by the engine 4. It is configured to supply the pressure oil from the hydraulic pump P.

In this control device 53, when the raising / lowering lever 16 is in the "automatic" position when the engine 4 is started and the raising switch 41 or the lowering switch 42 is in the ON state, the forced raising / lowering control is restrained and restrained. The control operation is set to prevent the forced raising / lowering control from being restrained even when the raising switch 41 and the lowering switch 42 are simultaneously turned on when raising and lowering the seedling planting apparatus A by the forced raising / lowering control during work. 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) is performed.
The main routine is set so as to perform the processing of (1), then the processing of the alarm routine (# 200 step), and the processing of the elevation control routine (#AUTO step) until it is reset (#R step). . The restraint means F of claim 1 is formed by software for performing the control operation of the alarm routine (# 200 step) in this routine.

As shown in the flow chart of FIG. 9, in the check routine (step # 100), the flag is set to "0" at the same time when the engine 4 is started, and either the up switch 41 or the down switch 42 is set. If it is in the ON state, the flag is set to "1"(# 101 to #
104 steps).

As shown in the flow chart of FIG. 10, in the alarm routine (step # 200), the flag is first discriminated, and the alarm 56 is detected only when the flag is "1".
To activate an alarm to generate an intermittent sound (# 201, # 2
02 step), and next, 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 to stop the subsequent alarm operation (steps # 203 to # 206).

As shown in the flow chart of FIG. 11, in the lifting control routine (#AUTO step), when the lifting lever 16 is set to the "neutral" position, the solenoid valve 54 is operated to the neutral position and the planted clutch C is used. If is in the ON state, the cutting operation is performed (steps # 301 to # 303).
When the lifting lever 16 is set to the "automatic" position, the control operation of the automatic lifting control routine and the forced lifting control routine is performed (# 304, # 400, 500 steps).
Further, when the elevating lever 16 is set to the "up" position, the solenoid valve 54 is moved to the up position to raise the seedling planting device A, and the planting clutch C is turned off if it is in the engaged state ( Steps # 305 to # 307). Further, when the elevating lever 16 is set to the “down” position, the solenoid valve 54 is operated to the down position and the seedling planting apparatus A is moved down until the float sensor 19 detects the grounding state of the leveling float 12, and the automatic setting is performed. Perform the control operation of the lifting control routine, and if the planted clutch C is in the engaged state, disengage it (# 308, #
400, # 309 step). Further, when the elevating lever 16 is not in these operating positions, it is operated to the "ON" position, so the solenoid valve 54 is operated to the lower position and the float sensor 19 detects the grounding state of the ground leveling float 12. Until that time, the seedling planting device A is lowered, the control operation of the automatic raising / lowering control routine is performed, and if the planting clutch C is in the disengaged state, it is turned on (steps # 400, # 310). still,
The forced elevating means E according to claims 1 and 2 is constituted by software that performs step # 500 in this elevating routine.

As shown in the flowchart of FIG. 12, in the automatic lifting control routine (400 steps), 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
When the control operation of operating the solenoid valve 54 is performed so as to be balanced with the value of the feedback signal from the seedling planting apparatus A, the seedling planting apparatus A is moved up and down in accordance with the field scene, and the flag is "1". In this case, the control operation of the automatic lifting control routine cannot be performed (steps # 401 to # 404).

As shown in the flow chart of FIG. 13, in the forced lifting control routine (# 500 step), the leveling float 12 is grounded based on the signal from the float sensor 19 only when the flag is "0". When it is determined that the attached device A is at the working height, the raising switch 41 and the lowering switch 42 are turned on almost simultaneously for a short time.
If this happens, this phenomenon is ignored and the subsequent control is allowed (steps # 501 to # 503), and when the ON state of the raising switch 41 is detected, the clutch motor 22 is controlled. The clutch C is operated to disengage, and the solenoid valve 54 is operated to start the raising of the seedling planting device A. When the descending switch 42 does not detect the ON state while the raising control is continued, the seedling is detected by the link sensor 21. The rising control is continued until it is detected that the planting apparatus A has reached the upper limit (steps # 504 to # 509).

Further, when the ON state of the lowering switch 42 is detected during this raising control (step # 507), the process branches to "J" and the raising switch 41 is not in the ON state as shown in the flowchart of FIG. Further, if the process branches to “K”, the process goes to the descending control after step # 514 described later, and if the ascending 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 ON state at the same time, the alarm 56 is driven for a short time of about 0.2 seconds, and at the same time,
The solenoid valve 54 is operated to the neutral position to stop the raising and lowering of the seedling planting apparatus A, and further, the flag is set to "1"(# 510- #).
513 steps).

Next, if 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 lowering switch 42 is detected in this state. In this case, the solenoid valve 54 is operated to start descending the seedling planting device A, and the float sensor 19 is used to detect the seedling planting device A unless the ON state of the raising switch 41 is detected while the descending control is continued. Continues to be lowered until it is detected that is lowered to the working height (steps # 514 to # 518).

When the ON state of the raising switch 41 is detected during this lowering control (step # 516), the process branches to "L" and the lowering switch 42 is not in the ON state as shown in the flowchart of FIG. Further, when the process branches to “M” and shifts to the ascending control after the step # 504, and the descending switch 42 is in the ON state,
Since it can be judged that the descending switch 42 and the ascending switch 41 are in the ON state at the same time, the alarm 57 is driven for a short time of about 0.2 seconds, and at the same time,
The solenoid valve 54 is operated to the neutral position to stop the raising and lowering of the seedling planting apparatus A, and further, the flag is set to "1"(# 519-.
# 522 step).

Then, steps # 510 to # 513 and steps # 519 to # 52 of this forced lift control routine.
Checking means G according to claim 2, which is software that forms two steps.
Is configured.

When the forced lift lever 27 is operated to the right marker position R or the left marker position L, the lock state of the lock mechanism 50 on the side operated by the operation of the switching wire 40 is released, The line marker 13 on this side is switched to the working posture, and when the planting clutch C is in the disengaged state, the planting clutch C is turned on and operated based on a signal from the marker switch 43.

As described above, in the present invention, for example, when the lifting lever 16 is in the "automatic" position, the forced lifting lever 27 is operated because the worker's clothes contact the forced lifting lever 27 or the like. In this state, when the engine 4 is started, or the lift lever 16 is in the “auto” position,
Even if the engine 4 is started in a state where one of the raising switch 41 and the lowering switch 41 remains in the ON state due to a failure, the operator does not raise or lower the seedling planting device A.

Further, according to the present invention, when the restraint means F functions at the time of starting the engine 4, the forced raising / lowering means E forcibly raises / lowers the seedling planting apparatus A and the automatic raising / lowering control controls the seedling planting apparatus A.
Since the automatic raising and lowering of the engine is blocked and the alarm continues to operate, the worker is forced to raise and lower the lever 27 when the engine 4 is started.
It is possible to easily discriminate that the operator has mistakenly operated, or that the raising switch 41 and the lowering switch 42 are out of order. When the restraint state is set in this way, the restraint state is released by operating the reset switch 57. It is also possible. When operating the reset switch 57, either the up switch 41 or the down switch 42 is turned on.
If it is in the state, the up switch 41, the down switch 4
One of the two is out of order 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 ON while the seedling planting apparatus A is moving up and down by the forced raising / lowering control, the raising switch 41 and the lowering switch 41 are lowered. It is determined that at least one of the switches 42 is out of order, an alarm is activated, and the raising / lowering control is immediately stopped, and the alarming is continued in the same manner as described above. The automatic raising and lowering of the seedling planting apparatus A is prevented by the forcible raising and lowering and the automatic raising and lowering control of the seedling planting device.
The restraint state can be released by the operation of 7.

In this control system, for example, the switch 1
For the purpose of eliminating the inconvenience that the raising and lowering of the seedling planting device A cannot be performed at all by only one failure, the raising and lowering of the seedling planting device A by the operation of the raising and lowering lever 16 is allowed even if the restraint state is entered.

[Other Embodiments] In addition to the above-described embodiment, the present invention does not use a dedicated switch as an operation for resetting the restraint state, and, for example, sets a setting device at a predetermined position to set seedlings. In order to perform resetting by means such as simultaneously operating the switches for forcibly rolling the attached device and other switches, it is configured to perform resetting by a combination operation of switches that are not operated simultaneously during normal work It is also possible to do so.

Further, in the present invention, when the check state is entered, the check state can be maintained even after the state is written in a nonvolatile memory such as an EEPROM and the engine is stopped. Even in the case where the restraint state is maintained in this way, it is possible to set the control operation so as to cancel the restraint state by performing the reset operation similar to that described above.

Further, in the present invention, for example, it is possible to configure the restraint means only by a hard circuit such as a logic gate and a comparator without using a microprocessor.

[0040]

Therefore, even if the forced lifting means is erroneously operated when the engine is started, even if the switch is out of order, the work equipment is prevented from being lifted and lowered by the control of the forced lifting means to prevent damage to the working equipment. The device is reasonably configured (Claim 1), and even if there is a failure of the switch, a riding work machine that prevents the improper control and does not raise or lower the seedling planting device by mistake is rational. It was constructed in a physical way.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a rear view showing the cooperation between the forcible lifting lever and the switch.

FIG. 3 is a side view showing the cooperation between the forcible lifting lever and the 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 a 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.

FIG. 8 is a flowchart of a main routine.

FIG. 9 is a flowchart of a check routine.

FIG. 10 is a flowchart of an alarm routine.

FIG. 11 is a flowchart of a lifting control routine;

FIG. 12 is a flowchart of an automatic lifting control routine.

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

FIG. 14 is a flow chart of a branch routine on the side of forced ascent control.

FIG. 15 is a flowchart of a branch routine on the side of forced lowering control.

[Explanation of symbols]

 3 Traveling Aircraft 4 Engine 8 Actuator 27 Operation Tool 41 Lifting Switch 42 Falling Switch A Working Device E Forced Lifting Means F Checking Means G Checking Means N Neutral Position D Lowering Positions U Ascending Positions

Claims (2)

[Claims] 1. A lifting switch detects that an operating tool, which is connected to a traveling machine body so as to be able to move up and down by driving an actuator, is configured to return to a neutral position and is operated from a neutral position to a rising position. The riding work machine is equipped with a forcible lifting means for starting the ascent of the working device when it is operated and for starting the descent of the working device when the lowering switch detects that the working device has been operated from the neutral position to the lowered position. Configuring the actuator to be driven after the engine provided in the traveling machine body is started, and preventing the working device from being lifted and lowered by the forced lifting means when the switch is in the detection state when the engine is started. A riding work machine equipped with a restraint. 2. A lift switch detects that an operating tool, which is connected to a traveling machine body so as to be movable up and down by driving an actuator, is configured to return to a neutral position and is operated from a neutral position to a raised position. The riding work machine is equipped with a forcible lifting means for starting the ascent of the working device when it is operated and for starting the descent of the working device when the lowering switch detects that the working device has been operated from the neutral position to the lowered position. A riding work machine provided with a restraining means for preventing the forcible lifting means from ascending / descending the working device when the raising switch and the lowering switch simultaneously fall into a detection state.