JPS6314608A - Remote operation mechanism of rice field working machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a remote control mechanism 2 for a paddy field working machine, and more particularly to a technique for improving operability.

[Conventional technology]

Considering rice transplanters, fertilizers, and the like as paddy field working machines, conventionally, the operating systems are configured so that workers can directly operate them manually. In other words, it was not configured to be remotely controlled (references not listed).
.

[Problem that the invention seeks to solve]

When considering the case where a paddy field work machine is configured to be remotely controlled and shaped, the paddy field work machine has a mechanism for steering control, a mechanism for lifting and lowering the work equipment, and a control mechanism for stopping the operation of the work equipment. It is necessary for the remote control device to include at least an operating tool for operating each of these eight types of mechanisms.

However, for example, when turning the aircraft on a headland for rice planting work, it is necessary to disengage the planting clutch, raise the seedling planting device, and perform steering operations.
To operate many operating tools in a short time,
It is conceivable that at...

The object of the present invention is to obtain an operation structure that allows the operator to easily approach and move the machine toward and away from the already worked row.

[Means for solving problems]

The present invention is characterized by providing a steering control for controlling the steering of steering wheels provided on the aircraft body, and an elevation control for controlling the elevation of a working device provided in the aircraft body. a first operating position that raises the working device regardless of the operating position and disengages the working clutch for the working device; a second operating position that allows the lifting/lowering operation tool to control the lifting and lowering of the working device and disengages the working clutch; , allows the raising and lowering control of the work device by the lifting operation tool, engages the work clutch, and sets the turning angle of the steering wheel for a unit operation amount of the steering operation tool to a first operation position or a second operation position. The third operating position is provided with a switching operation tool that can be operated at each of the third operating positions, and its functions and effects are as follows.

[For production]

If the above features are configured as shown in FIG. 1, for example, when the switching operation tool is set to the first operation position - (Ol),
When the work clutch (1@) is disengaged, the work device (4) is forcibly raised, and when the switching operation tool (20) is set to the second operating position (O2), the work clutch (12) is disengaged and the work device (4) is forcibly raised. When the switching operation tool (B) is set to the third operation position (O-bata), the turning angle of the working clutch (steering wheels f1 and f2) is reduced to 1/2 at the same time as the operation clutch is turned on.

In other words, when driving on the road or at the headland, the aircraft (3
), by setting the switching operation tool (20) to the first operation position (O1), the work device (4) can be raised and the work clutch (11), without any other operation.
When the switching operation (2) is performed and the working device (4) is lowered in the latter half of turning on the headland, the switching operation tool (
) from the first operating position (Ol) to the second operating position (O2)
By switching to , the working device (4) can be lowered by simply setting the lifting operation A (12) to the lower position, and when performing the work, the switching operation tool (20
) is set to the third operation position (O8), the working clutches (11) and (2) are engaged and operated, and at the same time, the turning angles of the steering wheels (1), (1), and (2) are changed. is reduced.

〔Effect of the invention〕

Therefore, by configuring one switching operation tool as an 8-position switching type and linking each operation position to correspond to a task to perform multiple controls, various types of control can be easily performed. At times, an operating structure was created that allows the aircraft to approach or move away from the existing work line easily, even if it is by a delicate amount.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figure 4JIIJB, there is an example of a work device that can be raised and lowered at the rear end of a traveling body (3), in which each of the front wheels (1) and rear wheels (1) and (2) can be steered. In addition to connecting the seedling planting device (4) as a seedling planting device (4), the steering control of the traveling body (3) and the operation of various actuators provided in the traveling body (3) are connected to the traveling body (3).
A rice transplanter, which is an example of a paddy field working machine, is configured to perform transmission via a transmitter (5) located at a distance from the rice field.

As shown in FIG. 1, the traveling aircraft (3) has the transmitter (
Receiver (6) that receives radio wave signals from 5) and receiver (
A control device (7) to which signals from the control device (6) are input is provided, and a system is formed in which the output signals from the control device (7) control the operation of various actuators provided in the traveling aircraft (3). .

That is, the traveling machine/body (3) includes an engine (8), a transmission (9), and front and rear wheels to which power is transmitted from the transmission (9). Differential device + for (1) and (2)
A traveling system consisting of 101 and (11) is formed, and the power from the transmission (9) is transmitted to the seedling planting device (4) via the planting clutch a, which is an example of a working clutch.
) is formed with a drive system for the seedling planting device (4).

Further, the engine (8) is provided with a relay switch (l4) for stopping the operation, and a steering cylinder (IC) for steering operation of each of the front wheels (1) and the rear wheels (2).

(2C) are linked, and the lever for gear change operation of the transmission (9) and the gear change motor (9m) are linked, and the transmission (9) is linked.
The forward/reverse switching lever (9) and the forward/reverse cylinder (9C) are linked, and the front and rear differentials 001. (11) Differential lock cylinder (IOC) for stopping differential function, (l
ie) are linked, and furthermore, the operation lever of the planting clutch (1 smell) and the on/off cylinder (12C) are linked.

Further, the seedling planting device (4) is connected to the traveling body (3) via a link mechanism (I4) so as to be able to rise and fall freely.
A lifting motor (14 m) is provided to drive and lower the seedling planting device (4) by swinging the base end of the seedling planting device (4).
4) includes a grounding mechanism for adjusting the ground pressure of the ground leveling float α and an adjustment motor (16) for operating the mechanism (20);
m) is provided.

Yes, the above-mentioned soil leveling float α is also used as a sensor for maintaining the field level of the seedling planting device (4) at a predetermined value, and its structure is such that the front part of the soil leveling flow (119) can swing up and down. At the same time, a predetermined load is applied to the front part of the flow) (1), and the soil leveling float is attached to the seedling planting device (4) as the river level changes. (It is configured to maintain the level of the seedling planting device (4) by detecting changes in the posture of l@ by changes in load and feeding back this detected value to the elevation control system (the structure is not shown). ).

Further, the traveling body (3) is provided with sensors for detecting the operating states of the actuators provided in the traveling body (3).

In other words, the first and second potentiometers (I
P), (2P), the third potentiometer (9P) that detects the shift operation amount of the transmission (9), the link mechanism (1
A fourth potentiometer (14P) detects the level of the seedling planting device (4) relative to the aircraft from the amount of rocking in (4), and a fifth potentiometer (14P) detects the magnitude of the sensing load set in the above-mentioned ground leveling flow A limit switch (14) that detects when the meter (16P) and seedling planting device (4) have risen to the upper limit.
8) A rotation sensor (8S) having a power generation structure is provided to detect that the engine (8) is in operation.

In addition, the two steering cylinders (IC), C2C),
Forward/reverse cylinder (9C), two differential cylinders (IOC), (IIC), on/off cylinder (12C)
Electromagnetically operated pulp (lv), (2v
), (9v).

(IOV), (IIV), and (12 MA) are provided, and control and control signal system for these pulps, and the relay switch Q! 4, variable speed motor (9m), lifting motor (14
nn), a control signal system for the adjustment motor (16m) is formed between the control device (7), and the gg1, the second
, 3rd, 4th, 6th potentiometer (ip), (2p
).

A detection signal system from (9p), (14p), (16p) and limit switch (14sλ rotation sensor (8・S) is formed between the control device (7), and the signal from the control device (7) The control system is configured to operate the necessary actuators by a predetermined amount.

direction, two steering cylinders (IC), (2C), forward/reverse cylinder (9C), two differential lock cylinders (IOC)
), (IIC), and the important cylinder (12C) ζ is provided with an oil passage (not shown) so that hydraulic oil is supplied through the six pulps.

As shown in FIGS. 1 and 2, the transmitter (6) is manufactured to a size that can be held in both hands.
) includes a swing-operated forward/backward lever (l?) and a potentiometer (17P) operated by the lever (1'6).
A free-swinging compound operation lever a, which is configured to serve as a steering operation tool and a lifting operation tool, and two potentiometers (18P) operated by the lever (Il+1), (18
Q), 8 switches (, 20s), (20t), (20u) that can be switched between two positions and can be operated by pressing in the longitudinal direction of the operating tool are the switching operating tool and the operation A-.
Rotating operation type load setting dial @υ and the dial υ
A potentiometer (2LP) operated by the emergency stop button and a switch operated by the button handle (22g)
) A slide operated switch (28g) is provided, as well as a control device (8) and a modulator to which a signal from the control device (8) is input.

Furthermore, an input signal system from these potentiometers and switches is formed for a control device (incorporated), and various actuators of the traveling body (8) are actuated by arbitrary operation of each operating tool.

In other words, the traveling aircraft (8) is moved by the forward/backward lever (17).
You can change the running speed and forward/backward movement of the car using the compound operation lever 08.
) can perform steering operation by swinging left and right, and by swinging the composite operation lever (III) back and forth, the steering mode can be switched or the seedling planting device (4) can be raised and lowered.

Further, the switching operation tool can be set to eight operation positions as shown in Fig. 2, and when set to the first operation position (Ol), seedlings cannot be planted regardless of the operation position of the composite operation lever. When the device (4) is raised to the upper limit, the planting clutch Q2 is disengaged, and the planting clutch Q2 is set to the @22 operation position, the seedling planting device (4) is allowed to rise and fall by operating the compound control lever (L barrel). , cut the planting clutch θno, and @88
When set to the operation position (when the switching operation tool is pressed from the second operation position (O2)), the switch is set to the second operation position (O2).
Similarly, the seedling planting device (4) is allowed to rise and fall, the planting clutch 02) is engaged, and the steering wheel +1) is
+1) and (2) are reduced.

In addition, the sensed load can be set using the load setting dial H, and the function of the traveling aircraft (3) can be stopped using the emergency stop button (A) regardless of the working state or the moving state of the aircraft.

What, the above-mentioned steering configuration is the front and rear wheels il+
, +1) and (2) are set in the opposite direction, so-called,
"C" shaped steering wheel and front and rear car M (11.

(2) There are two types of steering, so-called parallel steering, in which the steering wheels are set in the same direction, and the steering mode can be switched using the compound operation lever (I@) only when the switching operation tool is in the working position. , and furthermore, when the switching operation tool is suppressed in this state, the control device on the traveling aircraft side is configured so that the steering angle for the unit operation amount of the composite operation lever α barrel becomes 1/2. has been done.

When the emergency stop button is pressed (ON operation), the operation of the transmission (9) causes the vehicle to stop traveling.
The steering is restored to the straight-ahead position and the engine (8) stops operating.

In addition, as shown in Figure 4, the machine (3) inputs the amount of seedlings to be planted in a field of a predetermined area in terms of the number of matted seedlings, and then calculates the number of times seedlings are harvested, the amount of seedlings harvested, and the distance between planted plants. It is equipped with a device (c) that outputs the distance as a digital number and also displays this if the amount of mat-like seedling consumption per unit time deviates significantly from the output value. .

In other words, the device includes a keyboard for inputting the number of mat-shaped seedlings to be used, a first display section (28 m) that indicates the number of mat-like seedlings input, and a display section (28m) that indicates the number of seedlings taken based on the result of calculation. A display section (28b), a third display section (28c) indicating the amount of seedlings to be taken, and a fourth display section (28c) indicating the distance between planted plants! ! Part (2)
8d) and eight lamps indicating the seedling consumption rate, as well as a microprocessor for calculation (not shown).
It's decorated.

In addition, as shown in Fig. 6, a seedling stand (4a) provided in the seedling planting device (4) has a seedling soil made up of a large number of light emitters (80a) φ and light receiving elements (80b). A sensor is provided to detect the position of the end, and a microprocessor determines the consumption rate of the mat-like seedlings (goods) placed on the seedling stand (4a) based on a signal input from the sensor.

Incidentally, if the consumption rate of mat-shaped seedlings (transfer) deviates significantly, the lamp 4 is turned on and the seedling stand (4) is turned on.
This will activate the alarm lamp installed at the top of a).

The number of seedlings removed (the number of times the planting claw (4b) provided in the seedling planting device (4) cuts out seedlings when the seedling platform (4a) is moved horizontally), the amount of seedlings removed (the number of times the planting claw (4b) The structure is such that the vertical width when cutting out seedlings) and the distance between planted plants are artificially adjusted.

[Another example]

In addition to the embodiments described above, the present invention may be configured so that the switching operation tool can be switched to eight positions by swinging, or the steering operation tool and the elevation operation tool may be provided independently.

[Brief explanation of the drawing]

The drawings show an embodiment of the remote control mechanism for a rice paddy working machine according to the present invention, FIG. 1 is a block diagram showing the control system of the rice transplanter, FIG. 2 is a perspective view of the transmitter, and FIG. 3 is a diagram showing the control system of the rice transplanter. Overall side view,
Figure 4 is a plan view of the display device, and Figure 5 is a perspective view showing the mounting position of the sensor and the alarm lamp. fl), +1), (2)...steering wheel, (3
)... Aircraft, (4)... Work equipment, +
11... Working clutch, -... Switching operation tool, (O+)... First operating position, (OI
...Second operating position, (O8)...Third operating position.

Claims (1)

[Claims] A steering operation tool for controlling the steering of steering wheels (1) and (2) provided on the aircraft body (3), and a working device (4) provided on the aircraft body (3).
) is provided, and the work clutch (1) is provided to raise and lower the working device (4) regardless of the operating position of the lifting device (4).
2), a second operating position (O_2) that allows the lifting operation tool to control the lifting and lowering of the working device (4), and disengaging the work clutch (12), and a second operating position (O_2) that disengages the lifting operating tool. , the work clutch (12) is engaged, and the turning angle of the steering wheel is set to the first operation position (O_1) with respect to the unit operation amount of the steering operation tool. Alternatively, a remote control mechanism for a rice paddy working machine is provided with a switching operation tool (20) that can be operated at each of the third operation position (O_3), which is smaller than when set at the second operation position (O_2).