JPH03258667A - Working vehicle - Google Patents

Abstract

PURPOSE:To precisely position a ground working device at the time of backward run by raising and holding a lifting cylinder for ground working device in a determined position when a transmission device is operated to backward side, and returning the operating function of the lifting cylinder when a setter is operated to neutral stop position. CONSTITUTION:In a riding type rice-planting machine having an engine 3 in the front part of a machine body, a control part 4 in the center, and a seedling planting device 5 as a ground working device in the rear part, the seedling planting device 5 is raised and lowered through a four-throw link mechanism by the operation of a single acting lifting cylinder 13, and rolled by a rolling cylinder 14. Each cylinder 13, 14 is drive-controlled through first and second control valves 25, 26 controlled by a control device 17. When a running transmission device 7 is operated to backward side, the lifting cylinder 13 is raised and held in a determined position, and then the operating function of the lifting cylinder 13 by a setter 27 is returned when the setter 27 is operated to neutral stop position.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a working vehicle, such as a riding rice transplanter or an agricultural tractor, in which a ground working device is connected to a body so that it can be raised and lowered by an actuator.

[Conventional technology]

In a riding rice transplanter, which is a type of work vehicle, the seedling planting device (equivalent to a ground work device) is equipped with a single-acting hydraulic cylinder (equivalent to an actuator) and an operating lever for operating the hydraulic cylinder (equivalent to a setting device). ) is connected to the fuselage so that it can be raised and lowered freely.

When a riding rice transplanter starts planting work in a paddy field, it may position the initial starting position (the position of the seedling planting device relative to the ridge) while moving backwards at a corner of the paddy field. be. Therefore, when the transmission for traveling is operated to the reverse side, the seedling planting device is automatically raised to prevent the seedling planting device from colliding with the ridges etc. when traveling backwards. Some devices are configured so that the device's ground float or ground-type height sensor remains grounded and does not move backward.

[Problem to be solved by the invention]

In the above structure, when the transmission for traveling is operated to the reverse side, the control valve for the hydraulic cylinder is automatically held in operation on the hydraulic oil supply side. As a result, the hydraulic cylinder extends and the seedling planting device is lifted up, but since the control valve remains on the hydraulic oil supply side, the hydraulic cylinder continues to extend and the seedling planting device is lifted. It will be lifted to its upper limit.

However, when accurately positioning the seedling planting device relative to the ridge in a corner of a paddy field, the seedling planting device is lifted up to its upper limit as described above, and the seedling planting device and the ridge are separated vertically. Therefore, the operator cannot accurately grasp the positional relationship and distance between the seedling planting device and the ridge. Therefore, when the seedling planting device is lowered to the rice field with the intention of positioning it, the seedling planting device often deviates from its target position.

Here, an object of the present invention is to provide a configuration that allows accurate positioning of the above-mentioned ground work equipment.

[Means to solve the problem]

The feature of the present invention is that the above-mentioned work vehicle is configured as follows. In other words, when the transmission for traveling is operated to the reverse side, the first control means raises and holds the actuator to a predetermined position regardless of the operating position of the setting device, and after the first control means is operated, the setting device The second control means is provided for canceling the function of the first control means and restoring the actuator operation function by the setting device when detecting that the actuator is located at the neutral stop position,
Its action and effects are as follows.

[For production]

With the configuration described above, even if the setting device (operating lever for raising and lowering the ground work equipment, etc.) is in the lowered position when the transmission for traveling is operated to the reverse side, the ground work equipment will be raised significantly to the predetermined position. Be manipulated.

After that, if the setting device is at the neutral stop position, or once the setting device is returned to the neutral stop position, the ground work equipment can be raised or lowered to the desired position by operating the setting device to the up or down position. It is ready for operation. Therefore, the ground work device can be lowered to a position where the position and distance to the target object (such as a ridge or the edge of a work area) can be easily determined. In this way, the ground work device can be positioned with respect to the target object.

With the above-mentioned configuration, it may be possible to use the setting device to raise and lower the ground work device by operating a switch, etc. that is separate from the setting device after the ground work device has been raised to a predetermined position. . however,
When the ground work equipment is lifted and operated to a predetermined position, the setting device is operated to the lowered position or the automatic lift position (a position where the ground work equipment is automatically raised and lowered to maintain the ground force at the set height). If this remains, the ground work device may be suddenly lowered in accordance with the command from the setting device when the switch is operated.

In contrast, in the present invention, the setting device cannot be used to lift or lower the ground work device unless the setting device is at the neutral stop position or unless the setting device is once returned to the neutral stop position. That is, since the setting device is operated to the neutral stop position, the ground work device is stopped at that position at this point. Therefore, by operating the setting device thereafter, the ground work device can be raised or lowered, and the ground work device is not suddenly lowered.

〔Effect of the invention〕

As described above, if the ground control device is lifted during backward movement, the ground control device can then be lowered to any desired position, allowing the positioning of the ground control device while the aircraft is moving backwards. can now be done accurately.

Furthermore, when the ground work device was switched to a state where it could be lowered to any position, there was no situation where the ground work device suddenly descended, resulting in a high level of safety.

〔Example〕

EMBODIMENT OF THE INVENTION Hereinafter, an embodiment in which the present invention is applied to a riding-type rice transplanter, which is an example of a working vehicle, will be described in detail based on the drawings.

As shown in Figure 3, the engine (3) is located at the front of the aircraft, supported by the front wheels (1) and rear wheels (2), and the control unit (4) is located at the center.
, a riding rice transplanter is configured with a seedling planting device (5) (corresponding to a ground work device) at the rear. The power from the engine (3) is transmitted to the front wheels (1) and rear wheels (2) via a belt-type continuously variable transmission (6) and a gear transmission (7) (corresponding to a transmission for driving). PTO
It is transmitted to the seedling planting device (5) via the shaft (8).

The gear transmission device (7) is capable of shifting into two forward speeds and one reverse speed, and the first speed change lever (20) performs a speed change operation. As shown in FIG. 1, the belt type continuously variable transmission (6) is of a split pulley type, and the speed is changed by a tension pulley (19) which is oscillated by an electric cylinder (18).

As shown in FIG. 1, a second shift lever (23) is provided on a control panel (22) equipped with a control handle (21), and a signal from a potentiometer (not shown) for detecting the operating position of the control panel (22) is provided. It is input to the control device (17). As a result, the electric cylinder (18) is expanded and contracted by the control device (17) so as to reach the artificially set speed set by the second speed change lever (23).

As shown in FIG. 3, the seedling planting device (5) is composed of a planting mission case (9), a planting arm (10), a seedling stand (11), etc., and is not equipped with a grounding float. The front and rear axis of the four-speed link mechanism (12) extending from the fuselage (
A seedling planting device (5) is connected around Pl in a rolling manner. A single-acting lifting cylinder (13) (equivalent to an actuator) that lifts and lowers the four-speed link mechanism (12) is directly connected to the four-speed link mechanism (12) without using a buffer such as a spring. At the same time, a double-acting type that rolls the seedling planting device (5) is operated between the upper rear end of the four-speed link mechanism (12) and the support guide (37) on the back of the seedling platform (11). Rolling cylinder (14) 0
, are directly connected without using a buffer such as a spring.

As shown in Fig. 1, a first control valve (25) and a second control valve (26) supply and discharge hydraulic oil to the lifting cylinder (13) and rolling cylinder (■4), respectively.
are provided, the first and second control valves (25),
(26) is operated by a signal from the control device (17).

In addition, as shown in Figures 3 and 1, the lower surface of the planting mission case (9) is equipped with a pair of left and right ground sensors (15R) and (15L) that follow the ground contact with the field (G). This is the ground sensor (15R).

Potentiometer (16) detects the swing angle of (15L)
Signals from R) and (16L) are input to the control device (17).

Next, the flow of automatic control of this riding-type rice transplanter will be explained. As shown in FIGS. 2 and 1, when placing mat-shaped seedlings on the seedling stand (11) such as when starting seedling planting work, the seedling supply switch ( 24
) is turned on. As a result, the lifting cylinder (13)
The seedling planting device (5) is lifted up to a predetermined position where the PTO axis (8) is approximately horizontal (step (Sl)).
), (S2)).

When the first shift lever (20) is operated to the reverse position (R), a signal from a reverse switch (not shown) that detects this operation is input to the control device (17). As a result, the first control valve (25) is operated to the hydraulic oil supply position.
The seedling planting device (5) is then raised to the highest position (steps (33), (S4)) (corresponding to the first control means).

The control panel (22) is equipped with an operation switch (27) (corresponding to a setting device) for raising and lowering the seedling planting device (5), and raising and lowering the seedling planting device (5) to the highest position. If the operation switch (27) is in the neutral stop position after the operation has been performed, or if the operation switch (27) is returned to the neutral stop position and operated, the operation switch (
27), the seedling planting device (5) is brought into a state where it can be raised and lowered (corresponding to the second control means).

In other words, when this operation switch (27) is operated to the up position, the rolling cylinder (14) returns the seedling planting device (5> to be parallel to the machine body), and the lifting cylinder (13) moves the seedling planting device (5) back to the position parallel to the machine body. The planting device (5) is operated to raise (step (See), (S2o
)). Then, when the operation switch (27) is operated to the neutral stop position, the seedling planting device (5) is returned to parallel to the aircraft body, and the raising and lowering operation of the seedling planting device (5) is stopped ( Step (S2, ), (S2゜)).

Then, the operation switch (27) is set to the lowered position or the planting position (the seedling planting device (5) is kept parallel to the rice field (G) and at the set height from the rice field (G). (position where automatic lifting/lowering is performed), the step (S
23), the process moves from (32,) to step (S26). As shown in FIG. 1, when the main clutch (29) provided on the input side of the gear transmission (7) is engaged and operated (state of actually moving backward), step (S2
．． ). That is, the seedling planting device (5) is returned to be parallel to the aircraft body while being lowered.

In this case, the left and right ground sensors (15R), (15L
) is stored in advance in the potentiometer (30) installed at the base of the four-speed link mechanism (12) shown in Fig. When the seedling planting device (5) descends, the seedling planting device (
5) is configured to stop the lowering operation.

If the main clutch (29) is engaged and not operated (the gear transmission (7) is operated to the reverse side but is not actually moving backward), the process moves to step (S2□) and the seedlings are seeded. The planting device (5) is returned to be parallel to the fuselage while being lowered.

When the seedling supply switch (24) is turned off after placing the matted seedlings on the seedling platform (11), if the operation switch (27) is in a position other than the neutral stop position, the seedlings will not be planted. Since the device (5) may unexpectedly rise or fall, seedlings cannot be planted unless the operating switch (27) is returned to the -degree neutral stop position after turning off the seedling supply switch (24). Attachment 1 2 The device (5) cannot be raised or lowered (step (SS)).

After that, when the operation switch (27) is operated to the up position, the seedling planting device (5) is moved by the rolling cylinder (14).
is returned to be parallel to the body, and the seedling planting device (5) is raised by the lifting cylinder (13) (step (Ss)).

(St, )). Then, when the operation switch (27) is operated to the neutral stop position, the seedling planting device (5) is returned to parallel to the aircraft body, and the raising and lowering operation of the seedling planting device (5) is stopped ( Step (Sy).

(SS)).

Then, when the operation switch (27) is operated to the lower position, the ground sensors (15R) and (15L) will move to the ground surface (G).
The seedling planting device (5) is returned parallel to the aircraft body and descended until it touches down (Steps (Se), (SIO), (S17)). When the ground sensors (15R) and (15L) touch the rice field (G) and are lifted up, the seedling planting device (
5) Elevation control and rolling control are started. In other words, in order to maintain the angles of the left and right ground sensors (15R) and (15L) at the set values, the lift cylinder (13)
Then, the rolling cylinder (14) is expanded and contracted to maintain the seedling planting device (5) at a set height from the rice field (G) while keeping it parallel to the rice field (G) (step (
Se. ), (S,,)).

When the operation switch (27) is operated to the planting position, the planting clutch (not shown) is turned on and the seedling planting device (5) is turned on.
starts planting seedlings, and the above-mentioned raising/lowering control and rolling control of the seedling planting device (5) is performed (step (St□), (S13)).

(S,,)). Then, the control panel (22
> is operated to the right or left, the right or left marker (not shown) is operated (steps (S14), (S15)).

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the work vehicle according to the present invention, 3 4 Fig. 1 is a diagram showing the linkage state between each part of the control panel and the transmission for traveling, Fig. 2 is a flow chart of control, and Fig. 3 is FIG. 1 is an overall side view of a riding rice transplanter. (5)...Ground work equipment, (7)...
Transmission device for driving, (13)...actuator, (27)...setting device.

Claims (1)

[Claims] A ground work device (5) is connected to the aircraft body by an actuator (13) so that it can be raised and lowered freely, and a setting device (27) that issues an operation signal to the actuator (13) by human operation.
), the work vehicle is configured such that the ground work device (5) can be raised and lowered by the setting device (27), and when the traveling transmission (7) is operated to the reverse side, the setting device a first control means for lifting and holding the actuator (13) up to a predetermined position regardless of the operating position of the setting device (27);
) is located at a neutral stop position, the work vehicle is equipped with a second control means that cancels the function of the first control means and restores the operation function of the actuator (13) by the setting device (27). .