JP7679102B2 - agricultural machinery - Google Patents

Description

The present invention relates to an agricultural machine that is attached to a tractor. In particular, it relates to control that enables the working width to be expanded or reduced in the width direction in the direction of travel.

Control of the operation of an agricultural work machine that can change the machine body width or working width between an unfolded state and a stored state is disclosed, for example, in Patent Document 1. This agricultural work machine has an automatic mode and a manual mode, and multiple operating parts of the agricultural work machine are operated by operating a remote control operation unit. Patent Document 1 also discloses that in manual mode, the operating parts of each part operate only when the remote control operation unit is being pushed.

JP 2006-166793 A

When the agricultural working machine described in Patent Document 1 operates the operating parts of each part in manual mode, if the operator mistakenly operates a button on a different operation part, inconveniences may occur when moving the operating parts depending on the posture of the agricultural working machine. Specifically, operating an operating part of a certain part may cause interference with other parts and damage the machine. One way to determine the posture of the agricultural working machine is to equip the operating parts with sensors, determine the posture based on signals from the sensors, and control the operation accordingly, but it is easy to imagine that the increased number of parts to be equipped would make the product more expensive. This is not convenient for buyers.

Therefore, the present invention was made with the above problem in mind, and aims to provide an agricultural work machine that can determine the posture state of the agricultural work machine with a simple configuration.

In order to achieve the above object, one aspect of the present invention is an agricultural machine that includes a working body, a leveling body that is located at the rear of the working body and can rotate up and down, a drive unit that can change the posture of the leveling body to a fixed state that fixes it so that it cannot rotate up and down, or an unlocked state that releases the fixation so that the leveling body can rotate up and down, a control unit that can control the drive unit, and an operation unit that can send a command signal to the control unit when operated by an operator, and the control unit includes a memory unit that stores flag information that is information indicating the posture of the leveling body, and when the control unit receives a command signal from the operation unit to change the leveling body from a fixed state to an unlocked state, and when the operation of the drive unit is stopped after operating the drive unit to change the leveling body to the unlocked state, the control unit stores the flag information as the unlocked state in the memory unit, and when the operation of the operation unit is stopped while the drive unit is operating, the control unit stops the operation of the drive unit without generating flag information as the unlocked state, and does not store the flag information at the time when the operation of the drive unit is stopped in the memory unit.

In order to achieve the above-mentioned object, another aspect of the present invention is an agricultural working machine comprising a working body, a ground leveling body located at the rear of the working body and capable of rotating up and down, a drive unit capable of changing the posture of the ground leveling body to a fixed state or an unlocked state, a control unit capable of controlling the drive unit, and an operation unit capable of sending a command signal to the control unit when operated by an operator, wherein the control unit comprises a memory unit that stores flag information which is information indicating the posture state of the ground leveling body, and when the control unit receives a command signal from the operation unit to change the ground leveling body from an unlocked state to a fixed state, the control unit generates flag information to change the ground leveling body to a fixed state at the stage when operation is started with the operation unit, and after generating the flag information, the control unit operates the drive unit to change the ground leveling body to a fixed state and when the operation of the drive unit is stopped, the control unit stores the flag information as a fixed state in the memory unit, and when operation of the operation unit is stopped while the drive unit is operating, the control unit stops the drive unit at the point when operation of the operation unit is stopped, and stores the flag information at the point when operation of the operation unit is stopped without generating flag information.

This invention provides an agricultural work machine that can determine the posture state of the agricultural work machine with a simple configuration.

FIG. 2 is a front view of the agricultural work machine according to the embodiment, seen from the rear side in the direction of travel, showing the second work body and the third work body in an unfolded state. FIG. 2 is a plan view of the agricultural work machine showing the embodiment, showing a state in which the second work body and the third work body are deployed. FIG. 2 is a side view of the agricultural work machine according to the embodiment, seen from the left in the direction of travel, showing the second work body and the third work body in an unfolded state. FIG. 2 is a front view of the agricultural work machine according to the embodiment, seen from the rear side in the direction of travel, showing a state in which the second work body and the third work body are stored. FIG. 2 is a side view of the agricultural work machine according to the embodiment, seen from the left in the direction of travel, showing the second work body and the third work body in a stored state. FIG. 2 is an explanatory diagram showing an operation unit of the agricultural work machine according to the embodiment. FIG. 4 is an explanatory diagram showing a second drive device of the agricultural work machine according to the embodiment, showing the state when the soil leveling unit is in an unfolded state. FIG. 10 is an explanatory diagram showing a second drive device of the agricultural work machine according to the embodiment, showing the state when the soil leveling body is in a stored state. FIG. 2 is a side view illustrating a third drive device and a first rear leveling body of an agricultural work machine showing an embodiment, showing a state when the first rear leveling body is in a fixed state. FIG. 2 is a side view illustrating a third drive device and a first rear leveling body of an agricultural work machine according to an embodiment, showing a state in which the first rear leveling body is in an unlocked state. FIG. 10 is an explanatory diagram showing meshing of a first gear and a second gear of the agricultural work machine according to the embodiment, illustrating a state in which the tooth surfaces are pressed. FIG. 10 is an explanatory diagram showing meshing of a first gear and a second gear of the agricultural work machine according to the embodiment, illustrating a state in which the tooth flanks are not pressed. FIG. 1 is a block diagram of an agricultural machine showing an embodiment. FIG. 11 is a control flow diagram when the second work body of the agricultural work machine according to the embodiment is brought into the deployed posture. FIG. 11 is a control flow diagram when the second work body of the agricultural work machine according to the embodiment is put into a stored posture. FIG. 11 is a control flow diagram when the third work body of the agricultural work machine according to the embodiment is brought into the deployed posture. FIG. 11 is a control flow diagram when the third work body of the agricultural work machine according to the embodiment is put into a stored posture. FIG. 4 is a control flow diagram when a first rear ground leveling body of the agricultural machine according to the embodiment is put into a fixed release state. FIG. 4 is a control flow diagram when a first rear ground leveling body of the agricultural machine according to the embodiment is placed in a fixed state.

One embodiment of the present invention will be described with reference to the drawings. In the description, the left side shown in FIG. 1 will be described as the left side in the direction of travel, the right side as the right side in the direction of travel, the back side as the front side in the direction of travel, and the front side as the rear side in the direction of travel. In describing the drawings, identical or similar parts may be given identical or similar reference symbols and their description may be omitted. In addition, the drawings used in the description are schematic, and the relationships between the dimensions of each part may differ from the actual ones. Furthermore, the technical idea of the present invention may be modified in various ways within the technical scope defined by the claims described in the claims.

An overview of the agricultural work machine 1 will be described with reference to Figures 1 to 13. The agricultural work machine 1 is attached to a three-point link mechanism, which is a lifting link provided at the rear of a tractor (not shown), which is the running body, and is used for soil breaking and plowing.

The agricultural machine 1 comprises a first working body 11, and a second working body 11L and a second working body 11R connected to both ends of the first working body 11. The second working body 11L and the second working body 11R can be rotated around a fulcrum 25 provided at both ends of a frame 2 provided on the first working body 11 to change their working form between an unfolded posture and a stored posture. The unfolded posture is a state in which the second working body 11L and the second working body 11R are unfolded so as to extend the working width of the first working body 11, and the working width is expanded to the left and right of the traveling direction. The stored posture is a state in which the second working body 11L and the second working body 11R are rotated around the fulcrum 25 and folded above the first working body 11, shortening the working width and the machine width.

The first working body 11 is equipped with a frame 2 having an attachment part 20, and by connecting the attachment part 20 to a three-point link mechanism, the agricultural work machine 1 can be raised and lowered freely. In addition, the agricultural work machine 1 rotates the first soil crushing unit 3 located below the frame 2 by obtaining power output from the tractor side. This first soil crushing unit 3 has multiple claws 32 on a rotor shaft 31 that rotates on a horizontal axis perpendicular to the direction of travel. The soil can be crushed by rotating the claws 32 as the tractor travels. Furthermore, when the second working body 11L and the second working body 11R are changed to the deployed state, the power output from the tractor is also transmitted to the second soil crushing unit 3L and the second soil crushing unit 3R provided on the second working body 11L and the second working body 11R, respectively, and they are rotated.

Above the first soil crushing section 3, the second soil crushing section 3L, and the second soil crushing section 3R in the deployed state, a first cover body 4, a second cover body 4L, and a second cover body 4R are provided to cover the upper part of each soil crushing section, preventing soil from scattering to the surroundings during soil crushing. At the rear end of each of the first cover body 4, the second cover body 4L, and the second cover body 4R, a first soil leveling body 5, a second soil leveling body 5L, and a second soil leveling body 5R are provided which are freely rotatable up and down, and by rotating up and down and touching the soil, the first soil crushing section 3, the second soil crushing section 3L, and the second soil crushing section 3R level the soil after crushing and perform the tilling work.

Furthermore, the first leveling body 5 and the second leveling body 5L and the second leveling body 5R are composed of the first front leveling body 51 and the second front leveling body 51L and the second front leveling body 51R, which rotate up and down at the rear ends of the first cover body 4 and the second cover body 4L and the second cover body 4R, respectively, and the first rear leveling body 56 and the second rear leveling body 56L and the second rear leveling body 56R, which rotate up and down at the rear ends of the first front leveling body 51 and the second front leveling body 51L, 51R, respectively. These first front leveling body 51 and the second front leveling body 51L and the second front leveling body 51R and the first rear leveling body 56 and the second rear leveling body 56L and the second rear leveling body 56R work together to level the soil and mud after crushing.

The third work bodies 7L and 7R are disposed on the second rear leveling body 56L and the second rear leveling body 56R, respectively, in the deployed state. The third work bodies 7L and 7R can expand the leveling width of the second rear leveling body 56L and the second rear leveling body 56R. By expanding the leveling width, it is possible to more uniformly level the soil after crushing. The third work bodies 7L and 7R can be rotated up and down by the pivot points 71 provided at the ends of the second rear leveling body 56L and the second rear leveling body 56R, respectively, and the position can be changed between the leveling body deployed state and the leveling body stored state.

The second working body 11L, the first working body 11R, the first rear leveling body 56, the third working body 7L, and the third working body 7R are each provided with a drive unit 8, and can be driven to rotate by these drive units 8. The drive units 8 can be remotely controlled via the control unit B by the worker operating the operation unit A. In the embodiment, the operation unit A and the control unit B are described as being wireless, but the communication method is not important and may be wired.

The detailed configuration of the agricultural work machine 1 will be described with reference to Figures 1 to 13. The frame 2 is a part that forms the framework of the first working body 11 of the agricultural work machine 1, and includes an attachment section 20, an input case 21, a pipe frame 22, a transmission case 23, and a support frame 24.

The mounting section 20 is provided at the front center of the first working body 11, which is the front center of the agricultural work machine 1, and is composed of an upper top link pin 201 and a pair of lower link pins 202 located on the left and right below the top link pin 201. By connecting the top link pin 201 and the lower link pin 202 to a three-point link mechanism or the like (not shown) on the tractor side, the agricultural work machine 1 is mounted so that it can be raised and lowered freely relative to the tractor. An input case 21 is provided at the center of the mounting section 20, and an input shaft 211 is provided facing forward. The input shaft 211 is connected to the PTO shaft of the tractor by a universal joint (not shown) or the like to obtain the rotational power output from the tractor. A top mast 212 is provided at the top of the input case 21, protruding forward and upward, and the top link pin 201 is provided at the upper end of the input case 21. A lower plate 213 is arranged downward from the side of the input case 21, and the lower link pin 202 is attached to the lower plate 213.

The input case 21 is provided with pipe frames 22, one end of which is connected to the input case 21 and protrudes to the left and right sides. The pipe frames 22 arranged on the left and right sides are made of round pipes and are arranged coaxially. At the other end of either the left or right side of the pipe frame 22, a vertically long transmission case 23 is located, which extends downward, and a vertically long support frame 24 is located, which extends downward from the other end of the pipe frame 22 on the other side. A first soil crushing section 3 is provided below the frame 2 so as to span the lower ends of the transmission case 23 and the support frame 24.

The first soil crushing unit 3 is a member having a rotor shaft 31 and claws 32, and is supported below the pipe frame 22 between the lower end of the transmission case 23 and the lower end of the support frame 24. The rotor shaft 31 is a rotatable shaft body that is supported below the transmission case 23 and the support frame 24. A large number of claws 32 are attached to the rotor shaft 31 at regular intervals in the circumferential and axial directions. The rotor shaft 31 and the claws 32 are integrated to form the soil crushing unit 3. The soil crushing unit 3 obtains rotational power output from the tractor through the input shaft 211, and is rotated by the power being transmitted to the rotor shaft 31 via the input case 21 and the transmission case 23. This rotational drive crushes the soil.

The first soil crushing unit 3 is driven to rotate by power input from the input shaft 211. The power input from the input shaft 211 is changed in speed by a gear installed inside the input case 211, and is transmitted to the inside of the transmission case 23 by an output shaft (not shown) that passes through a pipe frame 22 protruding from one of the left and right sides. Transmission members (not shown) such as a chain and sprockets are arranged inside the transmission case 23, so that the power of the tractor is transmitted to the first soil crushing unit 3.

A first cover body 4 is provided on the top of the first soil crushing section 3 so as to follow the outer periphery of the rotation of the claws 32 and at a distance. The left and right lateral ends of the first cover body 4 are attached to the transmission case 23 and the support frame 24. By covering the upper part of the soil crushing section 3 with the first cover body 4 in this way, the tilled soil scattered from the soil crushing section 3 side is prevented from scattering upward.

Now, we will explain the second working bodies 11L, 11R that extend the body width of the agricultural work machine 1. On both the left and right ends of the first cover body 4 and first soil crushing section 3 of the first working body 11, the same members as the first cover body 4 and first soil crushing section 3 of the first working body 11 are provided as second working bodies 11L, 11R. The second working body 11L that works on the left side of the traveling direction is provided with the second cover body 4L and the second soil crushing section 3L, while the second working body 11R that works on the right side of the traveling direction is provided with the second cover body 4R and the second soil crushing section 3R. The left second working body 11L and the right second working body 11R have symmetrical structures.

When the machine width is expanded and the machine is in working condition, the second soil crushing units 3L, 3R are located in the same straight line to the left of the first soil crushing unit 3, which is located in the center when in working condition, in the direction of travel. The second soil crushing units 3L, 3R have second rotor shafts 31L, 31R and claws 32, just like the first soil crushing unit 3. The claws 32 are arranged radially and at regular intervals in the axial direction on the second rotor shafts 31L, 31R, and soil crushing work can be performed by obtaining rotational power. Power is obtained through a dog clutch 33 arranged at the end of the first soil crushing unit 3. Alternatively, power is obtained by transmitting power from the transmission shaft transmitted from the input case 21 of the first working body 11 to a side transmission case (not shown) provided on the second working body 11L, 11R.

Second cover bodies 4L, 4R are provided to cover the top and sides of the second soil crushing units 3L, 3R. Side covers 42L, 42R are provided on the left and right sides of the second cover bodies 4L, 4R in the direction of travel. Both ends of the second soil crushing units 3L, 3R are supported by bearings installed in the side covers 42L, 42R, and the second soil crushing units 3L, 3R can rotate freely between the side covers 42L, 42R. The side covers 42L, 42R prevent mud and soil generated from the second soil crushing units 3L, 3R from scattering upward and across the width of the moving direction.

Support frames 41L, 41R are provided above the second cover bodies 4L, 4R and on the first working body 11 side. The support frames 41L, 41R are members that protrude toward the first working body 11 and are connected to the support part 25. The support frames 41L, 41R are integrated with the second crushing parts 3L, 3R, the second cover bodies 4L, 4R, and the side covers 42L, 42R, and rotate upward about the support part 25, thereby switching the second working bodies 11L, 11R between a working state and a stored state. The first working body 11 further includes a first ground leveling body 5. Similarly, the second working body 11L includes a second ground leveling body 5L, and the second working body 11R includes a second ground leveling body 5R.

A first leveling body 5 is provided at the rear end of the first cover body 4 so as to hang down rearward and downward. Similarly, second leveling bodies 5L, 5R are provided at the rear ends of the first cover bodies 4L, 4R of the left and right second working bodies 11L, 11R so as to hang down rearward and downward. Since the second leveling bodies 5L, 5R are attached to the second cover bodies 4L, 4R, respectively, when the agricultural work machine 1 is changed between the working state and the storage state, they rotate integrally with the extended first cover bodies 4L, 4R and the extended soil crushing sections 3L, 3R around the fulcrum part 25.

The first leveling body 5 comprises a first front leveling body 51 and a first rear leveling body 56. Similarly, the left and right second leveling bodies 5L and 5R comprise second front leveling bodies 51L, 51R and second rear leveling bodies 56L, 56R. The first front leveling body 51 has a plate 511 whose left and right width is set to approximately the same as that of the first cover body 4, and can be rotated up and down by a plurality of hinges 52 arranged at the front end or upper end. The pivot axis of the hinge 52 faces left and right in the direction of travel and is parallel to the axis of the rotor shaft 31. Therefore, the lower side of the first front leveling body 51 can rotate so as to move away from or approach the rotation diameter of the claw 32. Like the first front leveling body 51, the second front leveling bodies 51L, 51R have plates 511L, 511R whose left and right widths are set to be approximately the same as those of the second cover bodies 4L, 4R, and can be rotated up and down by multiple hinges 52L, 52R located at the front end or upper end.

The first front soil leveling body 51 and the second front soil leveling body 51L, 51R are positioned to cover the rear of the first soil crushing section 3 and the second soil crushing section 3L, 3R, preventing the soil crushed by each soil crushing section from scattering rearward. In addition, during soil crushing work, the first front soil leveling body 51 and the second front soil leveling body 51L, 51R rotate up and down and touch the ground, leveling the soil after crushing by the first soil crushing section 3 and the second soil crushing section 3L, 3R.

The first rear leveling body 56 is attached to the rear end of the first front leveling body 51 so that it can rotate up and down. Similarly, the second rear leveling bodies 56L, 56R are attached to the rear ends of the second front leveling bodies 51L, 51R so that they can rotate up and down. The first rear leveling body 56 and the second front leveling bodies 51L, 51R are members that are long in the width direction relative to the direction of travel, and can rotate up and down by providing rotation fulcrums 562, 562L, 562R at the rear ends of the first front leveling body 51 and the second front leveling bodies 51L, 51R. During tilling work, the first rear leveling body 56, which is in a nearly horizontal state, comes into contact with and presses against the crushed soil surface after passing the first front leveling body 51, leveling the crushed soil surface that was not sufficiently leveled and leveled by the first front leveling body 51 and the second front leveling bodies 51L, 51R with even greater precision, and finishing the leveled surface evenly.

As shown in Figures 1 and 2, third working bodies 7L and 7R that can be rotated by pivot points 71L and 71R are provided on the outer widthwise sides of the second rear leveling body 56L and the second rear leveling body 56R, respectively, in the traveling direction. The pivot points 71L and 71R have axes facing the traveling direction at the outer widthwise ends of the second rear leveling body 56L and the second rear leveling body 56R. The third working bodies 7L and 7R can be rotated left and right on the sides of the second rear leveling body 56L and the second rear leveling body 56R. The third working bodies 7L and 7R are sometimes called extended leveling bodies.

The third work bodies 7L, 7R can rotate to increase or decrease the leveling width of the second rear leveling body 56L and the second rear leveling body 56R. The position can be changed to a leveling body deployed state in which the leveling width is increased by the third work bodies 7L, 7R, or a leveling body stored state in which the leveling width is decreased.

The third work bodies 7L and 7R shown by solid lines in Figures 1 and 2 show the leveling body deployed state. The leveling body deployed state is a state in which the third work bodies 7L, 7R are positioned to the side in the width direction relative to the direction of travel of the second rear leveling bodies 56L, 56R. In the leveling body deployed state, the leveling width of the second rear leveling body 56L and the second rear leveling body 56R is further expanded in the left-right direction, making it possible to level the soil after crushing more widely and uniformly.

The third work bodies 7L and 7R shown by the two-dot chain lines in Figures 1 and 2 are in the leveling body stored state. The leveling body stored state is a state in which the third work bodies 7L and 7R rotate about the pivot point 71 and are positioned above the second rear leveling body 56L and the second rear leveling body 56R, shortening the leveling width. By placing the third work bodies 7L and 7R in the leveling body stored state, sideward protrusion is prevented, and collisions with other objects can be avoided when the third work bodies 7L and 7R are not being used for work.

The agricultural work machine 1 is provided with a drive device 8 for changing the posture of the second work bodies 11L, 11R and the third work bodies 7L, 7R and for rotating the first rear leveling body 56 and the second rear leveling body 56L, 56R up and down. The drive device 8 receives and processes signals serving as command information transmitted in response to the operation of the operation unit A disposed adjacent to the operator at a control unit B provided in the agricultural work machine 1, and then drives and controls the actuators provided in the drive device 8. With this control, the second work bodies 11L, 11R and the third work body and the first rear leveling body 56 and the second rear leveling body 56L, 56R can be operated.

The drive unit 8 is composed of a first drive unit 81, a second drive unit 84, and a third drive unit 87. It drives and operates each movable part provided on the agricultural work machine 1. The first drive unit 81 rotates the second working bodies 11L, 11R to change their positions to the deployed position and the stored position. The second drive unit 84 is a device that drives the third working bodies 7L, 7R to change their positions to the land leveling body deployed state or the land leveling body stored state. The third drive unit 87 is a device that drives the first rear land leveling body 56 and the second rear land leveling bodies 56L, 56R to rotate them in the vertical direction.

The first drive unit 81 is a cylinder that can be expanded and contracted in the longitudinal direction by fluid pressure, and one end is attached to each of the left and right ends of the frame 2. The other end of one of the first drive units 81 is attached to the left fulcrum frame 41L, and the second work body 11L can be rotated by the expansion and contraction operation of the first drive unit 81. Similarly, the other end of the other first drive unit 81 is attached to the right fulcrum frame 41R, and the second work body 11R can be rotated by the expansion and contraction operation of the first drive unit 81. In this embodiment, the second work bodies 11L, 11R are placed in the deployed position by the contraction operation of the first drive unit 81, as shown in Figures 1 to 3. Furthermore, the second work bodies 11L, 11R are placed in the stored position by the extension operation of the first drive unit 81, as shown in Figures 4 to 5.

The first drive devices 81 are operated by operating the button A1 located on the operation unit A and corresponding to the operation of the first drive devices 81. Each first drive device 81 has a button A1a for a shortening operation and a button A1b for an extending operation, and can be extended or retracted by operating the corresponding button. In addition, by operating the switch button A2, it is possible to switch between an individual mode in which the left and right first drive devices 81 extend or retract individually, and a simultaneous mode in which the two first drive devices 81 extend or retract simultaneously.

The second drive unit 84 is provided on the second working bodies 11L and 11R, and changes the position of the third working bodies 7L and 7R to the terrain-leveling body deployed state or the terrain-leveling body stored state. In the embodiment, the second drive unit 84 is provided on the left end of the second cover body 4L in the traveling direction and on the right end of the second cover body 4R. The second drive unit 84 has a motor 841 capable of outputting rotational power as an actuator, a pinion gear 842 attached to the motor 841, a fan-shaped gear 843 meshing with the pinion gear 842, an L-shaped arm 844 that is provided coaxially with the rotation axis 843a of the gear 843 and rotates integrally with the gear 843, and a wire 845 that connects the arm 844 and the third working bodies 7L and 7R. The pinion gear 842 is sometimes referred to as the first gear 842, and the gear 843 is sometimes referred to as the second gear 843.

The motor 841 can rotate in both directions, and the rotational power of the motor 841 can be transmitted via a pinion gear 842 and a gear 843 to rotate an arm 844 so that the arm 844 swings left and right.
The third working bodies 7L, 7R can rotate around the pivot points 71L, 71R by connecting the tip of the arm 844, which swings left and right, with a wire 845. The third working bodies 7L, 7R, which are extended ground leveling bodies, can change their position to a ground leveling body deployed state or a ground leveling body stored state by the operation of the second drive device 84. The third working bodies 7L, 7R shown by solid lines in Figures 1 and 2 represent the ground leveling body deployed state, and the third working bodies 7L, 7R shown by two-dot chain lines represent the ground leveling body stored state. Furthermore, the third working bodies 7L, 7R shown by dashed lines in Figures 4 and 5 are in the ground leveling body stored state.

The second drive unit 84 is operated by operating a button A3 located on the operation unit A and corresponding to the operation of the second drive unit 84. The second drive unit 84 has a button A3a for placing the third work bodies 7L, 7R in a terrain-leveling body deployed state and a button A3b for placing the third work bodies 7L, 7R in a terrain-leveling body stored state, and by operating the corresponding buttons, it is possible to change the position of the third work bodies 7L, 7R. In addition, by operating the switching button A2, it is possible to switch between an individual mode in which the second drive units 84 located on the second work bodies 11L, 11R located on the left and right are operated individually on the left and right, and a simultaneous mode in which the two first drive units 81 simultaneously perform an extension and retraction operation.

The third drive unit 87 is provided on the first cover body 4 and rotates the first rear leveling body 56 and the second rear leveling body 56L, 56R in the vertical direction. In the embodiment, the third drive unit 87 is attached to the input case 21 and the top mast 212 located on the first cover body 4. When the second working bodies 11L, 11R shown in Figures 4 and 5 are in the stored position, only the first rear leveling body 56 can rotate up and down. When the second working bodies 11L, 11R shown in Figures 1 to 3 are in the deployed position, the left and right ends of the second rear leveling body 56L, 56R are connected to the left and right ends of the first rear leveling body 56, respectively, so that the rotational movement of the first rear leveling body 56 is transmitted to the second rear leveling body 56L, 56R, and the second rear leveling body 56L, 56R can rotate integrally with the first rear leveling body 56.

The third drive unit 87 includes a motor 871, which is an actuator capable of outputting rotational power in a first rotation direction and a second rotation direction, a pinion gear 872 attached to the motor 871, a fan-shaped gear 873 meshing with the pinion gear 872, an engagement member 874 having an L-shaped engagement groove 874a and rotating with the rotation of the gear 873, and an engagement rod 875 whose one end side can engage with the engagement groove 874a with the rotation of the engagement member 874. The first rear leveling body 56 connects the first rear leveling body 56 to the frame 2 or the input case 21 and includes a link mechanism 561 having a bent portion 561a that can be bent in the middle portion. The other end side of the engagement rod 875 is connected near this bent portion 561a. The pinion gear 872 may also be called the first gear 872, and the gear 873 may also be called the second gear 873.

The link mechanism 561 can move up and down in conjunction with the up and down rotation of the first rear leveling body 56. Therefore, the engagement rod 875 connected to the link mechanism 561 can also move in the longitudinal direction. When the engagement member 874 is engaged with the engagement groove 874a, the engagement rod 875 is prevented from moving in the longitudinal direction, and the movement of the bent portion 561a is also prevented. As a result, the first rear leveling body 56 is fixed so that it cannot rotate up and down. When the engagement member 874 is rotated by the motor 871 and the engagement state of the engagement member 874 with the engagement groove 874a is released, a part of the engagement groove 874a is opened. In the case of the embodiment, the front side of the engagement member 874 of the engagement groove 874a is opened, and the engagement rod 875 can move forward in the longitudinal direction. As a result, the first rear leveling body 56 can freely rotate upward from the position where the up and down rotation is fixed.

The third drive unit 84 is operated by operating a button A4 that corresponds to the operation of the third drive unit 87 located on the operation unit A. The third drive unit 87 has a button A4a for fixing the first rear leveling body 56 and a button A4b for releasing the first rear leveling body 56, and by operating the corresponding buttons, it is possible to fix or release the rotation of the first rear leveling body 56.

With the above configuration, the agricultural work machine 1 can be put into an unfolded or stored position by rotating the second working bodies 11L, 11R left and right relative to the first working body 11. In addition, the third working bodies 7L, 7R can be put into a land leveling body unfolded state or a land leveling body stored state by rotating them left and right relative to the second working bodies 11L, 11R. In addition, the first rear land leveling body 56 can be put into a fixed state in which it cannot be rotated up and down relative to the first front land leveling body 51, or into an unlocked state in which it can be rotated up and down.

When the second work bodies 11L, 11R are changed from the deployed position to the stored position, or when the second work bodies 11L, 11R are changed from the stored position to the deployed position, it is desirable that the third work bodies 7L, 7R are in the terrain leveling body stored state. As shown in FIG. 4, the second work bodies 11L, 11R in the stored position are close to each other. If the second work bodies 11L, 11R or the third work bodies 7L, 7R are operated in this state, they may interfere with each other. To prevent this, they must be properly controlled.

In addition, the second rear leveling bodies 56L and 56R connected to the first rear leveling body 56 may not be properly connected to each other unless they are in the same vertical rotation position when viewed from a direction perpendicular to the direction of travel.

To operate properly, the control unit B must correctly recognize the positions of the second work bodies 11L, 11R, the third work bodies 7L, 7R, and the first rear leveling body 56, and operate them only when they are in the correct positions. This recognition is performed by sending command information to operate the drive device from the operation unit when the worker operates a button, and generating and reading flag information within the control unit B based on the command information received by the control unit B.

The operation flow when the second working bodies 11L, 11R are changed from the stored position to the deployed position will be described with reference to FIG. 14. Note that the description refers to the case where only the second working body 11L is changed from the stored position to the deployed position. Operating only the second working body 11R, and operating the second working body 11L and the second working body 11R simultaneously is the same process as operating only the second working body 11L, and will be omitted to avoid duplication. When the second working body 11L is changed to the deployed position, flag information F1 indicating whether the second working body 11L is deployed or not stored in memory unit B1 configured in control unit B is stored or used and generated.

In step S1, the operator operates the deployment button A1a of the operation unit A. The operation unit A transmits a command signal to deploy the second work body 11L, and this command signal is received by the control unit. Upon receiving the command signal, the control unit executes step S2 and controls the second work body 11L to begin the deployment operation. That is, the control unit operates the first drive device 81, and the second work body 11L begins to rotate.

Then, the process proceeds to step S3, where it is determined whether the deployment flag of the second work body 11L is OFF. That is, the flag information of the second work body 11L stored in the memory unit B1 is read and determined. If it is determined that the flag information of the second work body 11L stored in the memory unit B1 is OFF, the process proceeds to the next step S4. That is, it is determined that the state of the second work body 11L at the time when the operator starts the operation is in the storage position, and the process proceeds to step S4. On the other hand, if it is determined that the deployment flag is not OFF, the process proceeds to step S6, which will be described later. That is, it is determined that the second work body 11L is in a position other than the storage position according to the flag information F1 of the second work body 11L stored in the memory unit B1 at the time when the operator starts the operation, and the process proceeds to step S6, ignoring steps S4 and S5.

In step S4, it is determined whether the button A1a for the unfolding operation of the second work body 11L is operated by the worker continuously for a period of time equal to or longer than a preset period of time. In other words, it is determined whether the button A1a is being operated continuously in step S1. If the button A1a has been operated for a period of time equal to or longer than the preset period of time, the process proceeds to step S5. If the button A1a for the unfolding operation of the second work body 11L is not operated by the worker continuously for a period of time equal to or longer than the preset period of time, step S5 is ignored and the process proceeds to step S6, which will be described later.

In step S5, the control unit B generates the deployment flag, which is the flag information F1 of the second work body 11L, as ON. After generating the flag information F1, the process proceeds to step S6. In step S6, it is determined whether the operation to deploy the second work body 11L is continuing. That is, similar to step S4, it is determined again whether the operation of the button A1a is continuing. If the operation to deploy the second work body 11L is continuing, that is, if the operation of the button A1a is continuing and the control unit B determines that the command signal is continuing, the process returns to step S2 again and the above control steps are repeated in sequence. If the operation of the button A1a is not continuing, that is, if the operation of the button A1a is not continuing and the control unit B determines that the command signal is not being received, the process proceeds to the next step S7.

In step S7, based on the determination in step S6 that button A1a has not been operated, control unit B stops the operation of first drive device 81, and the operation of second work body 11L stops.

Then, the process proceeds to step S8, where the deployment flag, which is the current flag information F1 of the second work body 11L, is stored. In this case, the flag information F1 generated in step S5 with the deployment flag set to ON is stored in the memory unit B1, and the control step ends.

The above control flow allows the control unit to determine the posture of the second working bodies 11L, 11R of the agricultural work machine 1 according to the time for which the operating unit is operated (operation time) when transitioning from the stored posture to the deployed posture, so there is no need to add special components to the work machine side. In other words, if the agricultural work machine 1 has an existing operating unit A, the posture of the second working body 11L can be determined according to the operation time, so the agricultural work machine 1 can be simply configured. In addition, since it can be configured without adding devices and components for posture determination, it can be provided to consumers at an affordable price.

The operation of each part is configured to operate only when the operator is operating the operation unit A, so if an abnormality or the like occurs suddenly in the work machine or the components that make it up, operation can be stopped simply by ceasing operation. Therefore, if an abnormality or the like occurs, the operator can immediately respond by ceasing operation. Also, although not shown, if the operator stops operating the operation unit A during the control flow of FIG. 14, at that stage, the system proceeds to step S7, the first control device 81 is stopped, and the flag information F1 at that stage is stored in the memory unit B1.

When the second work bodies 11L, 11R are changed to the deployed position, the flag information F1 is generated based on the operation time from the start of operation on the operation unit B. Therefore, if the operation unit is accidentally pressed momentarily, the control unit does not switch the flag information F1, and erroneous generation of flag information F1 due to erroneous operation can be prevented in an extremely simple manner.

Furthermore, among the steps for determining the operation time for which the operation unit A is operated, the first step is to determine the elapsed time for which the button A1a has been operated, and generate flag information F1. Next, after determining the operation time for which the operation unit A is operated, there is a control step for storing flag information after the operation of the button A1a is stopped. This makes it possible to prevent the storage of flag information F1 due to erroneous operation, and to prevent erroneous judgment by the control unit.

When the second work bodies 11L, 11R are changed from the stored position to the deployed position, the position of the second work bodies 11L, 11R is determined by the flag information F1 for position determination, so that malfunctions due to erroneous operation of the operating parts of the third work bodies 7L, 7R when the second work bodies 11L, 11R are stored can be prevented.

The control flow when the second working bodies 11L, 11R are changed from the deployed position to the stored position will be described with reference to FIG. 15. Note that the description refers to the case where only the second working body 11L is changed from the deployed position to the stored deployed position. Operating only the second working body 11R, and operating the second working body 11L and the second working body 11R simultaneously is the same process as operating only the second working body 11L, and will be omitted to avoid duplication. When the second working body 11L is changed to the stored position, flag information F1, which is second working body flag information indicating whether the second working body 11L is deployed or not, and flag information F2, which is third working body flag information indicating whether the third working body 7L is deployed or not, stored in memory unit B1 configured in control unit B, are stored or used and generated.

In step S11, the worker operates the storage button A1b of the operation unit A. In response to the operation on the operation unit A, the operation unit A transmits a command signal. After receiving the command signal, the control unit B executes step S12 and determines whether the flag information F2 stored in the memory unit B1, which indicates the land leveling body deployed state or the land leveling body stored state of the third work body 7L, which is the extended land leveling body, is ON. When the deployment flag information of the extended land leveling body is ON, it means that the third work bodies 7L, 7R, which are the extended land leveling bodies, are in the land leveling body deployed state. If the extended land leveling body is in the land leveling body deployed state, the flag information F2 is ON, so it is determined as YES, and if it is in the land leveling body stored state, it is determined as not ON.

In step S12, if it is determined that the deployment flag of the third work body 7LR, which is an extended leveling body, stored in the memory unit B1 is not ON, that is, the flag information F2 indicating that the third work body 7LR is in a leveling body storage state is stored, the next steps S13 and S14 are omitted, and the control flow proceeds to step S15 described later to continue. In step S12, if the extended leveling body is in a leveling body deployment state, it is determined that the flag information F2 is ON indicating deployment, and the control proceeds to the next step S13. In step S13, the control unit performs a storage operation on the third work body 7L, which is an extended leveling body in a leveling body deployment state. The storage operation is performed by driving the second drive unit 84 of the drive unit 8 to operate the third work body 7L in a leveling body storage state. Next, the control proceeds to step S14, and the deployment flag information F2 of the extended leveling body 7L is set to an OFF state. In other words, flag information F2 is generated assuming that the third work body 7L, which is the extended ground leveling body, is in the ground leveling body storage state. Then, the process proceeds to step S15.

In step S15, the second work body 11L is subjected to a storage operation. That is, the first drive device 81 is operated to change the second work body 11L from the deployed position to the stored position. Then, the process proceeds to step S16, and the deployment flag of the second work body is turned OFF. In other words, information indicating that flag information F1, which is the deployment information of the second work body 11L, is stored is generated. After generation, the process proceeds to step S17.

In step S17, the control unit B determines whether the operation to store the second work body is continuing. In other words, it determines whether the worker continues to operate the storage button A1b from step S1 and the control unit B continues to receive command information. If it is determined that the worker continues to operate the storage button A1b from step S1, the process returns to step S12 and repeats the control flow again. In other words, as long as the storage button A1b for putting the second work body 11L into the storage position is being operated, the first drive device 81 can continue to operate. If the operation is not continuing, the control unit B does not receive a command signal, so the control unit B determines that the operation unit A is not being operated and moves to step S18. In step S18, the control unit B stops the operation of the first drive device 81.

After step S18, the process proceeds to step S19, where the current flag information F2 of the second work body 11L is stored in the memory unit B1, and the control flow ends. In other words, the control unit stores the flag information F2 of the second work body 11L as indicating storage. Step S19 allows the control unit B to determine that the second work body 11L is stored.

When the operating unit A is operated to store the second work body 11L, the posture of the second work body 11L is determined based on flag information stored in the memory unit B1 of the control unit B, and the posture of the third work body 7L can be automatically changed to the ground leveling body storage state in accordance with this determination. Therefore, the worker can change the posture of the second work body 11L without having to worry about the posture of the third work body 7L, reducing the burden on the worker in operation.

After operating the operation unit A to store the second working body 11L, when the worker stops this operation, the control unit determines that the second working body 11L is in the stored position. Therefore, there is no need to add special components to the agricultural work machine 1, and the agricultural work machine 1 body can be configured simply and inexpensively. When the second working body is changed from the deployed position to the stored position, the second working body 11L and the third working body 7L are configured to operate only when the operator is operating the operation unit A. Even if an abnormality occurs in the agricultural work machine 1, the operator can immediately stop operating the operation unit A and the operation of the moving parts can be stopped.

When the operator stops the operation of storing the second working body 11L using the operation unit A, the generated flag information F1, F2 is stored in the memory unit B1. Any state other than the state in which the second working body 11L is positioned to the side of the first working body 11, in which the second working body 11L is in a completely deployed position, is determined to be a stored position. This makes it possible to prevent the formation of an incomplete deployed position. When the operation unit A starts to change the second working body 11L from the deployed position to the stored position, the position of the third working body 7L is also determined. This makes it possible to prevent the second working body from being stored while the third working body 7L, which is an extended ground leveling body, is in the deployed state, and to prevent damage to the agricultural machine 1.

As mentioned above, the movement of only the second working body 11L from the deployed position to the stored position has been mentioned, but the movement of only the second working body 11R, which is the right-side working body, is also performed in the same manner, accompanied by the movement of the third working body 7R and the generation of flag information F1 and F2. Furthermore, when the second working body 11L and the second working body 11R are simultaneously moved to the stored position, the movement of both the third working body 7L and the third working body 7R and the generation of flag information F1 and F2 are performed.

The control flow for changing the third work bodies 7L and 7R from the terrain leveling body stored state to the terrain leveling body deployed state will be described with reference to FIG. 16. Note that the description refers to the case where the third work body 7L, which is the left work body, is changed from the terrain leveling body stored state to the terrain leveling body deployed state. The operation of only the third work body 11R, which is the right work body, and the simultaneous operation of the third work body 7L and the third work body 7R are the same processing as the operation of only the third work body 7L described, and will be omitted to avoid duplication. When the third work body 7L is changed to the terrain leveling body deployed state, flag information F1 indicating whether the second work body 11L is deployed or not stored in the memory unit B1 configured in the control unit B, and flag information F2 indicating whether the third work body 7L is deployed or not are stored or used and generated.

First, in step S21, the worker performs an operation to deploy the extended ground leveling body, which is the third work body 7L. That is, the worker operates the deployment button A3a of the operation unit A, which deploys the third work body 7L. The operation unit A then transmits a command signal to operate the second drive device 84 so as to drive the extended ground leveling body to the deployment side. The control unit B, which receives the command signal, executes step S22.

In step S22, the control unit B determines whether the flag information F1 indicating the current state of the second work body 11L stored in the memory unit B1 is deployed. If it is determined that the flag information F1 is deployed, that is, the second work body 11L is in the deployed position, the process proceeds to step S23. If it is determined that the flag information F1 is not deployed, that is, the second work body 11L is in the stored position, the process proceeds to step S30, which will be described later.

In step S23, the control unit B sets the flag information of the extended ground leveling body to deployed. In other words, the control unit B generates flag information F2 indicating that the third work body 7L is in the ground leveling body deployed state.

Next, the process proceeds to step S24, where the third work body 7L, which is the extended ground leveling body, is started to be deployed in the direction of being deployed, and the process proceeds to step S25.

In step S25, it is determined whether or not the extension leveling body is within the deployment operation time. In other words, it is determined whether the elapsed time from the start of operation of button A3a of operation unit A is within the specified time. The deployment operation time is preferably 1.0 to 2.8 seconds, and in this embodiment it is set to 1.9 seconds. If the deployment operation time is not within the deployment operation time, that is, the elapsed time from the start of operation of button A3a is equal to or longer than the set deployment operation time, the process proceeds to step S26. On the other hand, if the deployment operation time is within the deployment operation time, that is, the elapsed time from the start of operation of button A3a is less than the set deployment operation time, the process returns to step S24 and the control is repeated.

In step S26, control unit B stops the deployment operation of the extension leveling body. In other words, it stops the operation of motor 841 of second drive device 84. At this point, the tooth surface on the rotational direction side of pinion gear 842, the first gear, is in a state of pressing against the tooth surface of gear 843, the second gear, at pressing point P, as shown in FIG. 11. A gap called backlash 85 is generated on the tooth surface on the opposite side of the rotational direction, which is symmetrical to the tooth surface of pinion gear 842 that presses against the tooth surface of gear 843.

Then, the process proceeds to step S27, where it is determined whether the waiting time has elapsed. The waiting time is the time that has elapsed since the operation of the motor 841 was stopped in step S26, and is set in advance. A waiting time of 0.1 to 0.2 seconds is considered to be suitable, and 0.15 seconds is adopted in this embodiment. If the control unit B determines that the waiting time has elapsed, the process proceeds to step S28. If the control unit B determines that the waiting time has not elapsed, the process returns to step S26, and the control is repeated again.

In step S28, the control unit B performs a reverse operation in the direction in which the extended leveling body is stored. In other words, the motor 841 of the second drive unit 84 is rotated in the opposite direction to the direction in which it was rotated in step S24. Then, in step S29, it is determined whether or not it is within the reverse operation time of the extended leveling body. A very short reverse operation time of 0.005 to 0.015 seconds is preferable, and in this embodiment, 0.01 seconds is adopted. In the reverse operation, the tooth surface of the first gear 842 operates within a range that does not go over the tooth surface of the second gear 843, and the second gear 843 does not rotate. In addition, by setting the waiting time, a sudden increase in electromotive force during the reverse operation is prevented. If the control unit B determines that it is not within the set reverse deployment operation time, that is, that the reverse operation time has passed the reverse deployment operation time, it proceeds to step S30. If the control unit B determines that the reverse operation time has not passed, it returns to step S28 again and repeats the control.

When the process proceeds to step S30, the control unit B stops the operation of the extension leveling body. In other words, it stops the reverse operation of the motor 841 of the second drive device 84 that drives the third work body 7L. When step S30 is completed, as shown in FIG. 12, the tooth surface of the pinion gear 842, which is the first gear, is released from the pressing state with the tooth surface of the gear 843, which is the second gear, and a gap 85a with a distance smaller than the backlash 85 is generated. A gap 85b with a distance smaller than the backlash 85 is generated on the tooth surface side on the opposite side of the rotation direction, which is symmetrical to the tooth surface of the pinion gear 842 that presses against the tooth surface of the gear 843.

After completing step S30, the process proceeds to step S31, where the current flag information, flag information F2 of the third work body 7L and flag information F1 of the second work body 11L, are stored in the memory unit B1, and the control flow ends. In the example described below, if it is determined in step S23 that flag information F1 is deployed, flag information F1 indicating the deployed posture of the second work body 11L and flag information F2 indicating the deployed posture of the third work body 11L generated in step S23 are stored. Also, if it is determined in step S23 that flag information F1 is not deployed, the process proceeds to step S30 with the second work body 11L and the third work body 7R stored, so flag information F1 indicating the stored posture of the second work body 11L and flag information F2 indicating the stored posture of the third work body 11L are stored in the memory unit B1.

The control flow for changing the third work bodies 7L, 7R from the leveling body deployed state to the leveling body stored state will be explained based on FIG. 17. As above, the explanation will refer to the case where the third work body 7L, which is the left work body, is changed from the leveling body deployed state to the leveling body stored state. The operation of only the third work body 11R, which is the right work body, and the simultaneous operation of the third work body 7L and the third work body 7R will be omitted. When the third work body 7L is changed to the leveling body deployed state, flag information F1 indicating whether the second work body 11L is deployed or not stored in memory unit B1 configured in control unit B, and flag information F2 indicating whether the third work body 7L is deployed or not are stored or used and generated.

First, in step S41, the worker performs an operation to store the extended leveling body, which is the third work body 7L. That is, the worker operates the storage button A3b of the operation unit A to store the third work body 7L. The operation unit A then transmits a command signal to operate the second drive device 84 to drive the extended leveling body to the storage side. The control unit B, which receives the command signal, executes step S42.

In step S42, the control unit B stores the extended leveling body 7L. That is, in order to place the third work body 7L in a leveling body stored state, the motor 841 of the second drive device 84 is rotated in the direction in which the third work body 7L is stored. Next, the process proceeds to step S43, where the control unit B determines whether or not the extended leveling body is within the storage operation time. That is, in step S41, the control unit B determines whether the operation time that has elapsed since the worker operated the storage button A3b is within the range of the predetermined extended leveling body storage operation time. If the operation time is within the extended leveling body storage operation time, the process returns to step S42 and repeats the control. If the control unit B determines that the operation time has exceeded the extended leveling body storage operation time, the process proceeds to the next step S44.

In step S44, the control unit B stops the retracting operation of the extension leveling body. In other words, it stops rotating the motor 841 of the second drive device 84 in the direction in which the third work body 7L is retracted. At this point, the tooth surface on the rotational direction side of the pinion gear 842, which is the first gear, is in a state of pressing against the tooth surface of the gear 843, which is the second gear, at pressing point P, as shown in FIG. 11. A gap called backlash 85 is generated on the tooth surface on the opposite side of the rotational direction, which is symmetrical to the tooth surface of the pinion gear 842 that presses against the tooth surface of the gear 843.

Then, the process proceeds to step S45, where it is determined whether the waiting time has elapsed. The waiting time is the time that has elapsed since the operation of the motor 841 was stopped in step S44, and is set in advance. A waiting time of 0.1 to 0.2 seconds is considered to be suitable, and in this embodiment, 0.15 seconds is used. If the control unit B determines that the waiting time has not elapsed, the process returns to step S44, and the control is repeated again. If the control unit B determines that the waiting time has elapsed, the process proceeds to step S46.

In step S46, the control unit B operates the extension leveling body 7L in the reverse direction, which is the direction in which the extension leveling body 7L is deployed. In other words, the motor 841 of the second drive unit 84 is rotated in the opposite direction to the direction in which it was rotated in step S42.

Then, proceed to step S47 to determine whether it is within the reverse operation time of the extension leveling unit 7L. A very short reverse operation time of 0.005 to 0.015 seconds is preferable, and in this embodiment, 0.01 seconds is used. Therefore, during the reverse operation, the tooth surface of the first gear 842 operates within a range that does not cross the tooth surface of the second gear 843, and the second gear 843 does not rotate. In addition, the waiting time setting prevents a sudden increase in electromotive force during the reverse operation.

If control unit B determines that the reverse operation time is not within the set reverse deployment operation time, that is, that the reverse operation time has exceeded the set time, the process proceeds to step S48. On the other hand, if control unit B determines that the reverse operation time has not exceeded, the process returns to step S46 and repeats the control.

When the process proceeds to step S48, the control unit B stops the operation of the extension leveling body 7L. In other words, it stops the reverse operation of the motor 841 of the second drive device 84 that drives the third work body 7L. When step S48 is completed, as shown in FIG. 12, the tooth surface of the pinion gear 842, which is the first gear, is released from the pressing state with the tooth surface of the gear 843, which is the second gear, and a gap 85a with a distance smaller than the backlash 85 is generated. A gap 85b with a distance smaller than the backlash 85 is generated on the tooth surface side on the opposite side of the rotation direction, which is symmetrical to the tooth surface of the pinion gear 842 that presses against the tooth surface of the gear 843.

When step S48 is completed, the process proceeds to step S49. In step S49, the control unit sets flag information F2 of the extended ground leveling body 7L to stored. In other words, the control unit generates flag information F2, which is information indicating the ground leveling body storage state of the third work body, which is the extended ground leveling body, as stored.

After completing step S49, the process proceeds to step S50, where the current flag information, flag information F2 of the third work body 7L and flag information F1 of the second work body 11L, are stored in memory unit B1, and the control flow ends.

When changing the third work bodies 7L, 7R from the terrain-leveling body deployed state to the terrain-leveling body stored state, the motor 841 operates the third work bodies 7L, 7R from the terrain-leveling body deployed state to the terrain-leveling body stored state, then reverses the rotation, and then generates flag information F2 indicating the attitude of the third work body 11L. After generation, the flag information F2 is stored in the memory unit B1. Also, unlike when changing the third work bodies 7L, 7R from the terrain-leveling body stored state to the terrain-leveling body deployed state, the storage operation is performed without judging the state of the flag information F1, F2 that accompanies the start of control.

As mentioned above, the movement of only the third work body 7L to the deployed or stored position has been mentioned, but when only the second work body 11R, which is the work body on the right side, performs a similar movement, this is performed accompanied by the generation of flag information F1 indicating the position of the second work body 11R and flag information F2 indicating the position of the third work body 7R. Furthermore, when the third work body 7L and the third work body 7R are simultaneously operated to the terrain leveling body stored state or the terrain leveling body deployed state, this is performed accompanied by the generation of movement including at least one of the second work bodies 11L, 11R and the third work bodies 7L, 7R and the generation of flag information F1, F2.

When the third working bodies 7L, 7R are deployed, the third working bodies 7L, 7R can be deployed according to the flag information F1 indicating the posture state of the second working body stored in the memory unit B1. This makes it possible to prevent the third working bodies 7L, 7R from being deployed while at least one of the second working bodies 11L, 11R remains in a stored state. Therefore, the third working bodies 7L, 7R cannot be deployed unless the condition that the second working bodies 11L, 11L are in the deployed posture is met. This makes it possible to prevent the agricultural machine 1 from self-destructing due to an unexpected operation of the third working bodies 7L, 7R while the second working bodies 11L, 11R remain in a stored state.

When the third working bodies 7L, 7R are stored, they can be stored regardless of the posture of the second working bodies 11L, 11L. As explained above, the leveling body deployed state of the third working bodies 7L, 7R can only occur when the second working bodies 11L, 11R are deployed. When the second working bodies 11L, 11R are in the deployed posture, the third working bodies 7L, 7R in the leveling body stored state are located at the left and right ends of the agricultural machine 1, and even if they rotate around the pivot points 71L, 71R, they do not interfere with other members, which may cause self-destruction. Therefore, when the third working bodies 7L, 7R are stored, the flow for determining the posture of the second working body can be omitted and the operation can be performed quickly. In other words, the control flow for changing the posture of the third working bodies 7L, 7R can be configured in a simple manner.

After the third working bodies 7L, 7R are deployed and stored, the drive unit 8 is automatically stopped and then flag information indicating the current position is stored, so there is no need to add special components to the agricultural work machine 1. In other words, the agricultural work machine body can be simply configured and inexpensively constructed.

When changing the position of the third work body, the third work body is configured to operate only when the operator is operating the operation unit, so if an abnormality or other problem occurs, the operation stops simply by ceasing the operation. Even if an abnormality or other problem occurs, the operator can immediately respond.

Although not shown, when the operator stops operating the operation unit A during the control of putting the third work bodies 7L, 7R in the ground leveling body deployed state shown in FIG. 16, the drive unit 8 is stopped at that point, and the flag state at this point is stored. In other words, when the operation of the operation unit A is stopped, the control unit B determines that the command signal has stopped, forcibly transitions to step S30, executes step S31, and ends the control. This allows the operator to recognize that the ground leveling body is in the deployed state when even the slightest operation to deploy the third work bodies 7L, 7R is performed, and thus allows the operator to recognize that he or she intends to change the position of the third work bodies 7L, 7R. Therefore, it is possible to suppress the change in position of the second work bodies 11L, 11R while the third work bodies 7L, 7R are in the middle of changing their position.

In contrast, when the operation of the operating unit is stopped during the storage operation of the third work bodies 7L, 7R from the terrain leveling body deployed state to the terrain leveling body stored state, the drive unit 8 is stopped without generating flag information F2 for the third work bodies 7L, 7R as a stored state. In other words, when the operator stops operating the operating unit A during the control of storing the third work bodies 7L, 7R in the terrain leveling body stored state shown in FIG. 17, the control flow is stopped at that point. In other words, although the operation of the drive unit 8 is stopped by stopping the control flow, flag information F2 at this point is not generated and the flag information F2 is not stored in the memory unit B1.

In order to have the control unit B recognize that the leveling body is in a stored state, the third working bodies 7L, 7R will not be recognized as being stored unless a procedure based on a predetermined control flow is followed. Therefore, the operator can be prompted to operate the third working bodies 7L, 7R to reliably store them. Even if the second working bodies 11L, 11R are operated thereafter, the extended leveling bodies 7L, 7R are in the leveling body stored state, and the control unit B recognizes this as the leveling body stored state based on the flag information F2, so there is no risk of each part of the agricultural work machine 1 operating in an incorrect posture and being damaged.

After changing the position of the third working bodies 7L, 7R, which are the extended ground leveling bodies, the first gear 842 returns to a position where there is no pressure to mesh with the second gear 843, that is, it rotates in the opposite direction by a distance smaller than the backlash 85, which is the clearance between the tooth surfaces, and the series of operations ends. As a result, after changing the position, there is no pressure to mesh between the mating tooth surfaces, so it is possible to prevent the tooth surfaces from sticking together due to rust or the like caused by leaving them for a long period of time.

After the position is changed, no meshing pressure is applied to the tooth surface, so no load is applied to the output shaft of the motor 841 connected to the first gear 842, and the motor 841 is not damaged. In particular, since the output shaft of the motor 841 is not left in a loaded state during long periods of non-use, the motor 841 can be used for long periods without being damaged.

By preventing adhesion between tooth surfaces and damage to the motor 841, the system reduces the maintenance work required by workers and cuts costs associated with part replacement, making the system more economical.

The control flow for changing the first rear leveling body 56 from a fixed state in which rotation is restricted to an unlocked state in which it can rotate is described with reference to FIG. 18. When changing the first rear leveling body 56 from a fixed state to an unlocked state, flag information F3, which is leveling body flag information indicating whether the first rear leveling body 56 is in a fixed or unlocked state and is stored, used, and generated, is stored in memory unit B1 configured in control unit B. The fixed state of the first rear leveling body 56 is sometimes referred to as the soil-piling position or soil-piling state. The unlocked state of the first rear leveling body 56 is sometimes referred to as the plowing position or plowing state.

First, in step S61, the worker operates the first rear leveling body 56 to put it into a plowing state. That is, the worker operates button A4b on the operation unit A to put the first rear work body 56 into an unlocked state. The operation unit A then transmits a command signal to operate the third drive device 87 to drive the first rear work body 56 into an unlocked state. The control unit B, which receives the command signal, executes step S62.

In step S62, control is performed to move to the tilling posture. That is, control unit B rotates motor 871 of third drive device 87 to rotate engagement member 874 in a direction to release engagement between engagement rod 875 and engagement groove 874a of engagement member 874.

Then, the process moves to step S63, where control unit B determines whether it is within the tilling operation time. In other words, control unit B determines whether the elapsed time from the start of operation of button A4b on operation unit A is within the specified time. A suitable tilling operation time is 1.0 to 2.8 seconds, and in this embodiment it is set to 1.9 seconds. If it is within the tilling operation time, that is, the elapsed time from the start of operation of button A3b is less than the set tilling operation time, the process returns to step S62 and repeats the control. If it is not within the tilling operation time, that is, the elapsed time from the start of operation of button A3b is greater than or equal to the set tilling operation time, the process moves to step S64.

In step S64, the tilling operation is stopped. That is, control unit B stops the operation of motor 871 of third control device 87. At this point, the tooth surface on the rotational direction side of pinion gear 872, the first gear, is in a state of pressing against the tooth surface of gear 843, the second gear, at pressing point P, as shown in FIG. 11. A gap called backlash 88 is generated on the tooth surface on the opposite side of the rotational direction, which is symmetrical to the tooth surface of pinion gear 872 that presses against the tooth surface of gear 873.

Then, the process proceeds to step S65, where it is determined whether the waiting time has elapsed. The waiting time is the time that has elapsed since the operation of the motor 871 was stopped in step S64, and is set in advance. A waiting time of 0.1 to 0.2 seconds is considered to be suitable, and in this embodiment, 0.15 seconds is used. If control unit B determines that the waiting time has not elapsed, the process returns to step S64, and the control is repeated again. If control unit B determines that the waiting time has elapsed, the process proceeds to step S66.

In step S66, the control unit B performs a soil piling operation in a direction that fixes the first rear leveling body 56. In other words, the motor 871 of the third drive unit 87 is rotated in the opposite direction to the direction in which it was rotated in step S62.

Then, the process proceeds to step S67, where control unit B determines whether or not it is within the reverse operation time of motor 871. A very short reverse operation time of 0.005 to 0.015 seconds is preferable, and in this embodiment, 0.01 seconds is adopted. During the reverse operation, the tooth surface of first gear 872 operates within a range that does not go over the tooth surface of second gear 873, and second gear 873 does not rotate. In addition, by setting the waiting time, a sudden increase in electromotive force during reverse operation is prevented. If control unit B determines that the reverse operation time has not elapsed, the process returns to step S66 again and repeats the control. If control unit B determines that it is not within the set reverse deployment operation time, that is, that the reverse operation time has elapsed, the process proceeds to step S68. By setting the waiting time, a sudden increase in electromotive force during reverse operation is prevented.

In step S68, control unit B stops the pile-up operation. That is, control unit B stops the reverse operation of motor 871 of third control device 87. When step S68 is completed, as shown in FIG. 12, the tooth surface of pinion gear 872, which is the first gear, is released from the pressing state with the tooth surface of gear 873, which is the second gear, and gap 88a with a distance smaller than backlash 88 is generated. On the tooth surface side on the opposite side in the rotation direction, which is symmetrical to the tooth surface of pinion gear 872 that presses against the tooth surface of gear 873, gap 88b with a distance smaller than backlash 85 is generated.

Then, the process moves to step S69, where control unit B turns on the plowing flag. In other words, control unit B generates flag information F3 for the first rear leveling body 56 as a plowing state. After this, the process moves to step S70, where flag information F3 indicating the current position of the first rear leveling body 56 is stored in memory unit B1, and control ends.

The control flow for changing the first rear leveling body 56 from a rotatable, unlocked state to a fixed state in which rotation is restricted will be described with reference to FIG. 19. When changing the first rear leveling body 56 from a fixed state to an unlocked state, flag information F3 indicating whether the first rear leveling body 56 is in a fixed or unlocked state, which is stored in a memory unit B1 configured in the control unit B, is stored or used and generated.

In step S81, the worker performs the pile-up operation. That is, the worker operates button A4a on operation unit A to fix the first rear work body 56. Operation unit A then transmits a command signal to operate the third drive device 87 so as to drive the first rear work body 56 to fix it. Control unit B, which receives the command signal, executes step S82.

In step S82, control unit B turns off the puddling flag. In other words, control unit B generates a flag that sets flag information F3, which is information indicating the posture of the first rear leveling body 56, to a puddling flag, which is a flag different from the puddling flag.

Then, the process proceeds to step S83, where control unit B performs the soil piling operation. That is, control unit B rotates motor 871 of third control device 87 to rotate engagement member 874 in the direction in which engagement rod 875 engages engagement groove 874a of engagement member 874.

Then, the process moves to step S84, where control unit B judges whether it is within the soil-piling operation time. In other words, control unit B judges whether the elapsed time from the start of operation of button A4a of operation unit A is within the specified time. The soil-piling operation time is preferably 1.0 to 2.8 seconds, and in this embodiment it is set to 1.9 seconds. If it is within the soil-piling operation time, that is, the elapsed time from the start of operation of button A3a does not meet the set soil-piling operation time, the process returns to step S83 and repeats the control. If it is not within the soil-piling operation time, that is, the elapsed time from the start of operation of button A3a is longer than the set plowing operation time, the process moves to step S85.

In step S85, the pile-up operation is stopped. That is, control unit B stops the operation of motor 871 of third control device 87. At this point, the tooth surface on the rotational direction side of pinion gear 872, the first gear, is in a state of pressing against the tooth surface of gear 843, the second gear, at pressing point P, as shown in FIG. 11. A gap called backlash 88 is generated on the tooth surface on the opposite side of the rotational direction, which is symmetrical to the tooth surface of pinion gear 872 that presses against the tooth surface of gear 873.

Then, the process proceeds to step S86, where it is determined whether the waiting time has elapsed. The waiting time is the time that has elapsed since the operation of the motor 871 was stopped in step S85, and is set in advance. A waiting time of 0.1 to 0.2 seconds is considered to be suitable, and in this embodiment, 0.15 seconds is used. If control unit B determines that the waiting time has not elapsed, the process returns to step S85, and the control is repeated again. If control unit B determines that the waiting time has elapsed, the process proceeds to step S87.

In step S87, control unit B performs a plowing operation in a direction that releases the first rear leveling body 56 from its fixed state. In other words, control unit B rotates the motor 871 of the third drive unit 87 in the opposite direction to the direction in which it was rotated in step S83.

Next, the process proceeds to step S88, where the control unit B judges whether or not the reverse rotation time of the motor 871 is within the time. A very short reverse rotation time of 0.005 to 0.015 seconds is preferable, and in the present embodiment, 0.01 seconds is adopted. In the reverse rotation, the tooth surface of the first gear 872 operates within a range where it does not go over the tooth surface of the second gear 873, and the second gear 873 does not rotate. In addition, by setting the waiting time, a sudden increase in electromotive force during the reverse rotation is prevented. If the control unit B judges that the reverse rotation time has not elapsed, the process returns to step S87 again and repeats the control. If the control unit B judges that the reverse rotation time is not within the set reverse deployment operation time, that is, that the reverse rotation operation time has elapsed, the process proceeds to step S89.

In step S89, control unit B stops the tilling operation. That is, control unit B stops the reverse operation of motor 871 of third control device 87. When step S89 is completed, as shown in FIG. 12, the tooth surface of pinion gear 872, which is the first gear, is released from the pressing state with the tooth surface of gear 873, which is the second gear, and gap 88a with a distance smaller than backlash 88 is generated. On the tooth surface side opposite the rotation direction, which is symmetrical to the tooth surface of pinion gear 872 pressing against the tooth surface of gear 873, a gap 88b with a distance smaller than backlash 85 is generated.

Then, the process proceeds to step S90, where the control unit B stores flag information F3 indicating the current posture state of the first rear leveling body 56 in the memory unit B1, and the control ends.

According to the control flow for the operation of the first rear leveling body 56 described above, the control unit B can determine the fixed and unlocked states, which are the posture states of the first rear leveling body 56. Although not shown, this flag information F3 is expected to be useful for other control devices and mechanisms, etc.

When the first rear leveling body 56 is to be released, flag information F3 is generated after the operator operates operation unit A and the third drive device 87 actually operates. On the other hand, when the first rear leveling body 56 is to be released, flag information F3 is generated immediately after the operator operates operation unit A. With this control configuration, it is possible to recognize the rotatable engagement member 874 as being in a fixed state in all positions other than the released state shown in FIG. 10.

The agricultural work machine 1 of the present invention, which performs tilling work, is often in an unlocked state, so it is configured to follow the control procedure shown in FIG. 18 to ensure that the work is performed after the posture is changed. In other words, the third drive device 87 is operated to set the first rear leveling body 56 in an unlocked state, and then the unlocked flag information F3 is generated and stored, which is expected to improve the reliability of posture judgment.

When the engaging member 874 rotates to change its position from the unlocked state shown in FIG. 10 to the locked state shown in FIG. 9, all positions of the engaging member 874 other than the unlocked state shown in FIG. 10 are controlled to be determined as locked. This does not complicate the control, and the position of the first rear leveling body 56 can be determined by operating the operating unit A alone, allowing the configuration of the control unit B to be simplified.

Although not shown, if the operation of the operation unit A is stopped during the control to change the fixed state shown in FIG. 18, the third drive unit 87 is stopped without generating flag information F3 indicating the plowing state. In other words, when the operator stops operating the operation unit A, the control flow is stopped at that point. Although the operation of the third drive unit 87 is stopped by stopping the control flow, flag information at this point is not generated or stored. In order for the control unit B to recognize the position of the first rear leveling body 56 as being in the fixed-release state, which is the plowing state, the control unit B will not recognize the position as being in the fixed-release state unless a procedure that conforms to a predetermined control flow is followed. Therefore, the operator can be prompted to operate the first rear leveling body 56 to reliably change its position to the fixed-release state.

Although not shown, if the operator stops operating the operating unit A during the control to set the fixed state shown in FIG. 19, the third drive device 87 is stopped at that point, and the flag state at this point is stored. In other words, when the operation of the operating unit A is stopped, the control unit B determines that the command signal has stopped, and forcibly transitions to step S90, executes step S31, and ends the control. This means that even the slightest operation to fix the attitude of the first rear leveling body 56 causes the control unit B to recognize that the first rear leveling body 56 is in a fixed state, and thus makes the control unit B recognize that the operator intends to change the attitude of the first rear leveling body 56.

As with the second drive unit 84, after the posture of the first rear leveling body 56 is changed, the third drive unit 87 returns to a position where the first gear 842 is not under pressure to mesh with the second gear 843; that is, it rotates in the opposite direction by a distance smaller than the backlash 88, which is the clearance between the tooth surfaces, and the series of operations ends. As a result, after the posture is changed, no pressure is generated between the mating tooth surfaces, and it is possible to prevent the tooth surfaces from sticking together due to rust or the like caused by leaving them for a long period of time.

After the position of the first rear leveling body 56 is changed, no meshing pressure is applied to the tooth surface, so no load is applied to the output shaft of the motor 871 to which the first gear 872 is connected, and the motor 871 is not damaged. In particular, since the output shaft of the motor 871 is not left in a loaded state during long periods of non-use, the motor 871 can be used for long periods without being damaged.

By preventing the teeth from sticking together and the motor 871 from being damaged, maintenance work by workers is reduced and costs associated with part replacement, etc. are reduced, making the system more economical.

The present invention has been described by the above embodiment, but the descriptions and drawings that form part of this disclosure do not limit the present invention. Modifications of the embodiments, examples, and operating techniques based on this disclosure are possible within the scope described in the claims.

1 Agricultural work machine, 11 First working body, 11L Second working body, 11R Second working body, 5 First leveling body, 5L Second leveling body, 5R Second leveling body, 51 First front leveling body, 51L Second front leveling body, 51R Second front leveling body, 56 First rear leveling body, 561 Link mechanism, 561a Bending portion, 56L Second rear leveling body, 56R Second rear leveling body, 7L Third working body, 7R Third working body, 8 Drive device, 81 First driving device, 84 Second driving device, 841 Motor, 842 Pinion gear, 843 Gear, 87 Third driving device, 871 Motor, 872 Pinion gear, 873 Gear, 874 Engagement member, 874a Engagement groove, 875 Engagement rod, A Operation unit, B Control unit, B1 storage section

Claims (2)

A working body and
A leveling body located at the rear of the working body and capable of rotating up and down;
A drive device capable of changing the posture of the ground leveling body to a fixed state in which the ground leveling body cannot be rotated up and down, or to a released state in which the ground leveling body is released from the fixed state so that the ground leveling body can be rotated up and down;
A control unit capable of controlling the drive device;
An operation unit capable of transmitting a command signal to the control unit by being operated by an operator,
The control unit includes a storage unit that stores flag information that is information indicating the posture state of the grading body,
When the control unit receives the command signal from the operation unit to change the ground leveling body from a fixed state to an unlocked state, when the operation of the drive unit is stopped after the drive unit is operated to change the ground leveling body to an unlocked state, the control unit stores flag information as an unlocked state in the memory unit, and when the operation of the operation unit is stopped while the drive unit is in operation, the control unit stops the operation of the drive unit without generating flag information as an unlocked state, and does not store the flag information at the time when the operation of the drive unit is stopped in the memory unit.
Agricultural machinery characterized by: A working body and
A leveling body located at the rear of the working body and capable of rotating up and down;
A drive device capable of changing the position of the ground leveling body between a fixed state and a released state;
A control unit capable of controlling the drive device;
An operation unit capable of transmitting a command signal to the control unit by being operated by an operator,
The control unit includes a storage unit that stores flag information that is information indicating the posture state of the grading body,
When the control unit receives a command signal from the operation unit to change the ground leveling body from an unlocked state to a fixed state, the control unit generates flag information for changing the state to a fixed state at the time when operation is started with the operation unit, and when the operation of the drive unit is stopped after the flag information is generated and the drive unit is operated to change the ground leveling body to a fixed state , the control unit stores the flag information as a fixed state in the memory unit, and when the operation of the operation unit is stopped while the drive unit is operating, the control unit stops the drive unit at the time when the operation of the operation unit is stopped, and stores the flag information at the time when the operation of the operation unit is stopped without generating the flag information.
Agricultural machinery characterized by:

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